Grasp Force Feedback Control of Robot Hand Using Stepping Motors, Gears and Plate Springs

摘要

In this paper, a grasp force feedback control method of a robot hand attached to a one-link robot arm is proposed, and the usefulness of the grasp force feedback control method is confirmed theoretically and experimentally. The robot hand consists of two permanent magnet type stepping motors, reduction gears and plate springs. In the design of the grasp force feedback control system, the start-stop performance without missing steps concerning stepping motors is effectively utilized. The grasp force feedback control system is designed to finish the grasp force feedback control at a lower pulse rate of the stepping motors. For this purpose, the control method of the stepping motors using the angular velocity pattern of trapezoidal shape with a constant-velocity time and an estimated finish-time decided by the grasp force feedback control was devised.