The UB Hand II control system: design features and experimental results

Author

Eusebi, A. ; Fantuzzi, C. ; Melchiorri, C. ; Sandri, M. ; Tonielli, A.

Author_Institution

Dipartimento di Elettronica Inf. e Sistemistica, Bologna Univ., Italy

Volume

2

fYear

1994

fDate

5-9 Sep 1994

Firstpage

782

Abstract

In this paper the main features of the control system of the University of Bologna Robotic Hand Version II, its sensory and actuation systems are presented and discussed. The hand, a three fingered articulated hand with high dexterity features, is installed on an anthropomorphic arm, a PUMA 560, and in total the system has 16 degrees of freedom. Details about the overall control system architecture and some preliminary experimental results are given. The control system is based on a multiprocessor hardware platform and multilayer software levels: a Sun Sparcstation for the user interface, a 68030 and DSP boards on VME bus for real-time coordination, a custom DSP-based board located at the forearm level, that ensures the hardware support for real-time force computation and position/torque servo loops for the hand

Keywords

digital signal processing chips; manipulators; multiprocessing systems; user interfaces; DSP boards; PUMA 560; Sun Sparcstation; UB Hand II control system; VME bus; anthropomorphic arm; control system architecture; design features; high dexterity features; multilayer software levels; multiprocessor hardware platform; position/torque servo loops; real-time coordination; real-time force computation; three-fingered articulated hand; user interface; Anthropomorphism; Computer architecture; Control systems; Force control; Hardware; Nonhomogeneous media; Real time systems; Robot kinematics; Robot sensing systems; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on

Conference_Location

Bologna

Print_ISBN

0-7803-1328-3

Type

conf

DOI

10.1109/IECON.1994.397885

Filename

397885