GRASPING FORCE CONTROL SYSTEM AND METHOD FOR A ROBOTIC HAND

摘要

PURPOSE: A system and a method for controlling the clamping force of robotic hands are provided to be applied to control joints in a various method by using a torque servo, a current servo, a speed servo, and a position servo and to control the clamping of the robotic hands with the predetermined clamping force in which users desire. CONSTITUTION: A method for controlling the clamping force of robotic hands comprises the following steps: generating an initial clamping control instruction according to sizes of the inputted clamping force and clamping objects in the robotic hand; measuring the size of the clamping force and delivering the same to a control unit; extracting the size of the measured clamping force relative to the contact point direction; comparing the size of inputted target clamping force and the measured clamping force relative to the contact point direction and calculating the error of the size of the clamping force; calculating a joint torque input value to drive each joint of the robotic hand based on the calculated power control parameter; generating a clamping control instruction signal corresponding to the joint torque input value and delivering the same to a driving unit; and controlling the joint by generating the driving force driving each joint of the robotic hand in the driving unit. [Reference numerals] (110) Robot hand; (120) Driving unit; (130) Joint position sensor; (140) Grapping force measuring sensor; (150) Control unit; (160) User command input unit