3축 손가락 힘센서를 가진 지능로봇의 지능형 로봇손 개발

Abstract

This paper describes the intelligent robot’s hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot’s fingers with the grasping force. In this paper, the intelligent robot’s hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot’s hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP(digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot’s hand could grasp an unknown object safely.