Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 14, 2016 - March 15, 2016
This paper proposes a grasping force control system by using a series-elastic actuator for master-slave systems. In the proposed system, the grasping force is controlled by controlling the fall velocity of the grasping object to be a very small value near zero, for example 1 mm/s. During slipping with very low velocity condition, the applied force to the object is kept near the minimum value to hold the object. This gives information about what is the minimum force to keep the object held. To evaluate the validity of the proposed system, it is implemented to a two-stage series-elastic actuator system. The experimental results showed that the falling velocity can be controlled to be around 1 mm/s and that an appropriate minimum force to grasp the object can be successfully found.
