Design of a Flexible Multifingered Robotics Hand with 12 D. O. F and Its Control Applications

Author

Le, Xuan-Thu ; Kim, Wn-Goo ; Kim, Byong-Chang ; Han, Sung-Hyun ; Ann, Jong-Guk ; Ha, Young-Ho

Author_Institution

Dept. of Mech. Eng., Kyungnam Univ., Masan

fYear

2006

Firstpage

3461

Lastpage

3465

Abstract

The focus of this paper is to design a flexible three fingered hand system with 12 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.6 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand

Keywords

control system CAD; dexterous manipulators; feedback; flexible manipulators; grippers; image recognition; intelligent control; manipulator dynamics; manipulator kinematics; robot vision; 12 DOF; control system; dynamic manipulation; flexible multifingered robotics hand; grippers; image recognition system; intelligent controller; Actuators; Cities and towns; Control systems; Fingers; Grasping; Humans; Manipulator dynamics; Motion control; Robotics and automation; Robots; 12 D.O.F; Flexibility; Flexible Grasping; Hand Design; Image Recognition; Robotic Hand Control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315164

Filename

4108359