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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844884
