Grasping Force Control of a Master-slave Robot Finger System

It is highly important to avoid damage to the objects during robotic grasping and manipulation, a parallel control strategy for a master-slave finger of robot hands is proposed in this paper. The PID controller is adopted in the position control system of the master finger, and simultaneously explicit force control is used to the slave system which external force loops are closed around the position control system. The motion of slave finger closely follows the motion trajectory of master finger to maintain a constant force, and position can be autonomously increased or decreased according the deviation between the desired force and the actual one acquired by the sensor. The algorithm is quite suitable for force/position control with two fingered hand, and can be coordinated to supply more grasp compliance. The result of the experiments indicates that it can collaborative control the position and force for the robot hands, and prove to be very robust and to yield the expected performance.