Compliance control for grasping with a bionic robot hand

摘要

A compliance control method is proposed for grasping objects in this paper. A bionic robot hand with force sensor and five under-actuated fingers is presented. To analyze the influence of robot hand spring stiffness and object stiffness on the dynamic response, the system characteristics of tendon-driven robot hand is studied. Compliance controller is designed to improve the response characteristics of the system. Experiments on the SHU-II robot hand are carried out, and the results verify the effectiveness of the proposed method.