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.
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;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1088031
