External Force Estimation for Robot Hand without Grasping-Force Sensor

摘要

In this paper, external force estimation for a robot hand without a grasping-force sensor is discussed from the internal model control point of view. By using disturbance estimation property of the internal model control, the modified internal model control structure for grasping control is proposed. The grasping force is selected by detecting objects from CCD camera. The 1-DOF robot hand with the camera is constructed. Effectiveness of the proposed method is confirmed by comparative experiments.