文章基本信息

标题：Design of versatile gripper with robust control ⁎
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作者：Ivan I. Borisov ; Oleg I. Borisov ; Vladislav S. Gromov 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：56-61
DOI：10.1016/j.ifacol.2018.11.518
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a novel approach to the development of finger mechanisms for anthropomorphic grippers. The proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. This approach can be used to create grippers for different tasks such industrial grippers as well as prosthesis. In this paper, the proposed approach was used to create our gripper named “UHVAT” (Usable Holding Versatile Adjustable Tool) for industrial tasks. The gripper consists of three fingers and a palm and equipped with four motors. The robust regulator was designed for positioning control of the motors. The control law includes cancellation of steady state error and anti-windup portions.
关键词：KeywordsRobotic SystemsFactoryIndustrial AutomationRobust ControlIndustrial robotsAdaptive Grasping