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An overview of active compliance control for a robotic hand

Sadun, Amirul Syafiq and Jalani, Jamaludin and Abdul Sukor, Jumadi (2014) An overview of active compliance control for a robotic hand. In: International Integrated Engineering Summit (IIES 2014), 1-4 December 2014, Universiti Tun Hussein Onn Malaysia, Johor.

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Abstract

It is vital to ensure that a robotic hand can successfully grasp the objects without damaging them. In order to allow a safe grasping, a technique called an active compliance control has been deployed. Active compliance control is an increasingly employed technique used in the robotic field such as service robotics, virtual reality and haptics, telemanipulation, human augmentation, and assistant. Recent research trends show that there are two main methods used in establishing active compliance control for robotic hand namely the force control and the impedance control. This paper highlights a summary of currently related works on active compliant control by using the force control and the impedance control. In addition, several control strategies of active compliance control are also discussed and highlighted for a safe grasping

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: active compliance; robotic hand; force control; impedance control; adaptive controller; passivity based control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Engineering Technology > Department of Electrical Engineering Technology
Depositing User: Mrs. Nurhayati Ali
Date Deposited: 02 Mar 2015 08:12
Last Modified: 26 May 2015 09:00
URI: http://eprints.uthm.edu.my/id/eprint/6552
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