Kj. Kyriakopoulos et al., KINEMATIC ANALYSIS AND POSITION FORCE CONTROL OF THE ANTHROBOT DEXTEROUS HAND/, IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 27(1), 1997, pp. 95-104
Citations number
27
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Cybernetics","Robotics & Automatic Control
The increasing demand for robotic applications in unstructured environ
ments is motivating the need for dextrous end-effecters which can cope
with the wide variety of tasks and objects encountered in these envir
onments, A new anthropomorphic robot hand (Anthrobot) which was design
ed for these environments is described. In this paper, the problem of
developing the kinematics and unit consistent hybrid position/force co
ntrol of the Anthrobot fingers is considered as the first step toward
its utilization for either teleoperation or autonomous operation, A dy
namic model of the fingers is identified and used to develop the contr
ol laws, The experimental results of applying the control to the Anthr
obot are discussed.