论文信息 - Articulated Hands

Articulated Hands

Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.

J. Kenneth Salisbury | John J. Craig | J. Craig | J. Salisbury

[1] John J. Craig,et al. Hybrid position/force control of manipulators , 1981 .

[2] T. Ishida. Force Control in Coordination of Two Arms , 1977, IJCAI.

[3] Richard Paul,et al. Manipulator compliance based on joint torque control , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[4] G. Schlesinger. Der mechanische Aufbau der künstlichen Glieder , 1919 .

[5] Daniel E. Whitney,et al. Force Feedback Control of Manipulator Fine Motions , 1977 .

[6] K. H. Hunt,et al. Kinematic geometry of mechanisms , 1978 .

[7] K. C. Gupta,et al. Design Considerations for Manipulator Workspace , 1982 .

[8] Samuel Hunt Drake,et al. Using compliance in lieu of sensory feedback for automatic assembly. , 1978 .

[9] M. J. D. Powell,et al. An efficient method for finding the minimum of a function of several variables without calculating derivatives , 1964, Comput. J..

[10] J. Salisbury,et al. Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[11] F. G. Umholtz,et al. Design for a three-fingered hand , 1977 .