2304 Grasping Force Control in Master-Slave System with Partial Slip Sensor

摘要

This paper discusses the development and control of the master-slave system capable of grasping an object even when coefficient of static friction is unknown. Partial slip information is known to be essential for conducting stable grasping in a teleoperating system. The developed sensor contains strain gages in several ridges placed on the curvature contact surface. By measuring strain velocity of each ridge, the vibration which occurs due to a partial slip can be detected. We developed the master-slave system with the slave robot which uses the developed sensor to detect a partial slip and automatically controls grasping force. Through the grasp manipulation experiment, the validity of the developed system was confirmed.