A mathematical model of six-axis force/moment sensor and its applied control method for robot finger

Abstract

This paper proposed a mathematical model of six- axis force/moment sensor for robot finger and a new method of feedback control for how to use it. With this proposed mathematical model of this kind of sensor, the grasping force and its moment can be calculated. And then, a new control method of feedback control for grasping control is also proposed and described. With this control method, a robot hand can grasps an object imitating human grasping. We also manufactured this sensor and equipped with a robot hand to examine the mathematical model and method. The test results present approximate relationship between input and output of the sensor and an ideal control result.