In this paper, we describe the control of safely grasping various objects using a three-finger gripper. An experimental device was constructed for the characteristic experiment of a three-finger gripper, a control system for closed-loop control was constructed, and experiments were conducted to obtain proportional gain and differential gain experimentally. As a result of the experiment, the proportional gain of the three-finger gripper was Kp=0.25, and the differential gain was Kd=5.0. As a result of the special experiment, the rising time was within 0.31 seconds, the steady-state error was within ±0.02 N, and the overshoot was within 0.03 N. By applying this to control the gripping force, it was possible to safely grip various objects. Therefore, we believe that applying the control method of this study to a three-finger gripper will enable it to grasp various objects safely.

Abstract
1. 서 론
2. 세 손가락 그리퍼 제어
    2.1 세 손가락 그리퍼의 구성
    2.2 세 손가락 그리퍼의 힘제어 시스템
    2.3 세 손가락 그리퍼의 힘제어 특성실험
    2.4 외란 제어 특성실험
    2.5 그리퍼의 잡는 제어 특성실험
3. 결 론
후 기
References

• 하정민(Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University) | Jeong-Min Ha
• 김진(Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University) | Jin Kim
• 조민주(Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University) | Min-Ju Cho
• 김갑순(Professor, Dept. of Control & Robot Engineering(ERI), Gyeongsnag National University) | Gab-Soon Kim Corresponding author