Title :
A study on robust control of robotic hand with 12 joints
Author :
Moon-Youl Park ; Byoung-Kyun Shim ; Ki-Won Sung ; Sung-Won Jung ; Yang-Keun Jeong ; Eon-Uck Kang ; Sung-Hyun Han
Author_Institution :
Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea
Abstract :
Recently it is very important to control robot hands more compact and integrated sensors in order to increase compensate the grasping capability and to reduce cabling through the finger in the manipulator. As a matter of fact, the miniaturization and cabling harness represents a significant limitation to the design of small sized precise sensor. The main focus of this research is on a flexible grasping control of hand fingers, which consists of a flexible multi-fingered hand-arm system.
Keywords :
cables (mechanical); manipulators; robust control; sensors; cabling harness; cabling reduction; flexible multifingered hand-arm system; grasping capability; integrated sensors; manipulator; robotic hand; robust control; small sized precise sensor design limitation; Grasping; Joints; Manipulators; Real-time systems; Resistance; Robot sensing systems; Torque; Grasping Control; Hand Finger; Precise Sensing; Real Time Control;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6703947
