Title :
Dynamic modeling and force/position control for the Anthrobot dextrous robotic hand
Author :
Zink, A.R. ; Kyriakopoulos, K.J.
Author_Institution :
New York State Center for Adv. Technol. in Autom. & Robotics, Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
The problem of position control and unit consistent hybrid position/force control of the Anthrobot robot hand is considered. A dynamic model, for the Anthrobot, is used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed
Keywords :
force control; manipulators; modelling; position control; Anthrobot dextrous robotic hand; control laws; dynamic modeling; force/position control; Analog-digital conversion; Fingers; Force control; Kinematics; Manipulators; Position control; Regulators; Robotics and automation; Robots; Servomechanisms;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325683
