This paper describes two smart hand systems developed at JPL recently for robotics and teleoperator applications. The first unit was designed for potential application on an Orbiting Maneuvering Vehicle (OMV) equipped with an approximately 5 meter size manipulator performing, e.g., satellite servicing and repair tasks. The second unit was designed for experimental use on a human-size industrial robot arm called PUMA 560 to explore issues in versatile object handling and compliance control in grasp actions. The developments followed an integrated design approach by considering mechanism, sensing, electronics, control and displays within an integrated system design architecture. The descriptions in this paper briefly summarize all design aspects of the two smart hand systems.
KeywordsIndustrial Robot Paper Briefly Integrate System Design System Design Architecture RS232 Link
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