KINEMATIC ANALYSIS AND POSITION FORCE CONTROL OF THE ANTHROBOT DEXTEROUS HAND/

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.