DocumentCode
2035122
Title
Grasp force control in two-finger grippers with pneumatic actuation
Author
Ottaviano, Erika ; Toti, Maria ; Ceccarelli, Marco
Author_Institution
Dipt. di Ingegneria Meccanic, Strutture, Ambiente e Territorio, Cassino Univ., Italy
Volume
2
fYear
2000
fDate
2000
Firstpage
1976
Abstract
An experimental system has been proposed for force control in a two-finger gripper with an easy sensorization by using a commercial force sensor. A suitable model of the control scheme has been designed to control the grasping force. Experimental tests have been carried out at the Laboratory of Robotics and Mechatronics in Cassino and they are reported in the paper to show the practical feasibility of two-finger grippers with force controlled pneumatic actuation
Keywords
actuators; dexterous manipulators; force control; force sensors; pneumatic control equipment; grasp force control; pneumatic actuation; two-finger grippers; Fingers; Force control; Force feedback; Force sensors; Grippers; Industrial control; Mechatronics; Pneumatic actuators; Programmable control; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844884
Filename
844884
Link To Document