Compliance of a Robotic Finger Joint

摘要

Adaptive compliance control of a robotic single joint was studied to control theamount of torque applied on an object by an end effector, which is actuated by an electric motor through a gearbox. For this reason, an adaptive control system was designed. Variation in stiffness and compliance was observed by simulating the system with MATRIX package program. After observing theoretical variation of the stiffness and the compliance, experiments were done to observe and prove the stiffness control theory. The proved theory was then applied to a prototype robotic finger joint actuated by a small DC motor.