손가락 힘센서를 가진 지능형 로봇손 개발

Abstract

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