미지물체를 안전하게 잡기 위한 지능형 그리퍼의 제어장치개발

초록

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknownobjects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit,and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which thegripper is attached are measured and calculated at high speeds. The gripping force is determined based onthis value, and the object must be safely gripped with the determined value. A basic characteristic test of thecontrol device of the manufactured intelligent gripper was conducted, and it was confirmed that it operatedsafely

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