DocumentCode
2542404
Title
Modeling and control of the stanford/JPL hand
Author
Loucks, Clifford S. ; Johnson, Victor J. ; Boissiere, Peter T. ; Starr, Gregory P. ; Steele, John P H
Author_Institution
Sandia National Laboratories, Albuquerque, New Mexico.
Volume
4
fYear
1987
fDate
31837
Firstpage
573
Lastpage
578
Abstract
Improved dexterity is an area of current research in robotics. At Sandia National Laboratories and the University of New Mexico we are pursuing research in this area with the aid of a Stanford/JPL hand from Salisbury Robotics. In this paper we present some of the issues raised in studying the characteristics and control of a single finger of the dexterous hand. The issues we present are dynamic modeling, friction based hysteresis, and identification of the finger system. We also discuss our present method for sensing and control.
Keywords
Equations; Fingers; Friction; Grasping; Hysteresis; Laboratories; Manipulator dynamics; Robot kinematics; Robot sensing systems; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1088031
Filename
1088031
Link To Document