CONTROL SYSTEM DESIGN OF A DEXTEROUS HAND FOR INDUSTRIAL ROBOTS

Abstract The paper illustrates the goals and the present development state of a research programme aimed at the realization of a robot’s dexterous extremity device, suitable for carrying out grasping and manipulation operations on objects of different type and shape. Following a brief description of the device’s mechanical configuration, sensorial equipment and driving system, the main design issues and the solutions adopted up to now in the prototype, as regards the control strategies and the system architecture, are outlined. Experimental results related to the grasping performance of the device are also presented, together with the future development plans for the project.