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首页> 外文会议>International conference on advanced engineering - theory and applications >Performance Evaluation of Grasping Force Control Based on Fall Velocity Control of Grasping Object for Telemanipulation Systems
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Performance Evaluation of Grasping Force Control Based on Fall Velocity Control of Grasping Object for Telemanipulation Systems

机译：操纵系统基于落物速度控制的抓力控制性能评估

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摘要

This paper proposes a grasping force control system by using a series-elastic actuator and an optical mouse sensor for master-slave systems. In the proposed system, the grasping force is controlled by controlling the falling 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, experiments were conducted by implementing it to a two-stage series-elastic actuator (SEA) system that has two springs with different stiffness. By designing the force control system based on a two-stage SEA, the grasping force can be finely controlled. Also, the optical mouse sensor which can measure the displacement of the grasping object is implemented to control the falling velocity of the grasping object. The experimental results showed that the falling velocity can be controlled to be around 1 mm/s and that the grasping force to prevent slipping was applied to it when the unexpected disturbance was applied to it by setting the target value to a more minute value, 0.1 mm/s. Therefore, an appropriate minimum force to grasp the object can be successfully found by using the proposed method.
机译：本文提出了一种利用串弹性致动器和光学鼠标传感器作为主从系统的抓握力控制系统。在所提出的系统中，通过将抓握对象的下落速度控制为接近零的非常小的值，例如1mm / s，来控制抓握力。在以非常低的速度条件打滑的过程中，施加到物体上的力保持在最小值附近以保持物体。这给出了有关保持物体的最小力量的信息。为了评估所提出系统的有效性，通过将其实施到具有两个具有不同刚度的弹簧的两级串联弹性致动器（SEA）系统来进行实验。通过设计基于两级SEA的力控制系统，可以精确控制抓握力。另外，实现了可以测量抓握物体的位移的光学鼠标传感器，以控制抓握物体的下落速度。实验结果表明，通过将目标值设置为一个更小的值0.1，可以将下落速度控制在1 mm / s左右，并且在施加意外干扰时对其施加了防止滑动的抓紧力。毫米/秒因此，通过使用所提出的方法，可以成功地找到合适的最小力来抓住物体。

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