Articulated Hands
- 1 March 1982
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 1 (1) , 4-17
- https://doi.org/10.1177/027836498200100102
Abstract
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.Keywords
This publication has 3 references indexed in Scilit:
- Force Feedback Control of Manipulator Fine MotionsJournal of Dynamic Systems, Measurement, and Control, 1977
- Design for a three-fingered handMechanism and Machine Theory, 1977
- Der mechanische Aufbau der künstlichen GliederPublished by Springer Nature ,1919