Nonlinear Force Distribution for Multi-Finger Robot Hand Using Impedance Control Based on EtherCAT

Ming Xin Hou; Li Jiang; Zhao Peng Chen

doi:10.4028/www.scientific.net/AMM.644-650.67

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 644-650Nonlinear Force Distribution for Multi-Finger...

Nonlinear Force Distribution for Multi-Finger Robot Hand Using Impedance Control Based on EtherCAT

Abstract:

A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance.

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Periodical:

Applied Mechanics and Materials (Volumes 644-650)

Pages:

67-70

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.644-650.67

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Cite this paper

Online since:

September 2014

Authors:

Ming Xin Hou*, Li Jiang, Zhao Peng Chen

Keywords:

EtherCAT, Force Distribution, Impedance Control, Nonlinear, Robot Hand

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* - Corresponding Author

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