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RoManSy 6 pp 507-516 | Cite as

Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand

  • A. E. Samuel
  • P. Ridley

Abstract

The paper reviews some of the special problems related to synthesis of multi-fingered robot hands, where co-operated motion must be achieved under some “best” control strategy. The concepts of finite screws are applied to the motion of the hand and workpiece in the working volume of the hand to achieve some simple but non-trivial target tasks. It is demonstrated that combined torque and displacement control is the most appropriate mode of co- operated motion. A method of determining the “best” joints to control in either mode is discussed. An algorithm for computer control of the Melbourne hand is presented.

Keywords

Torque Control Linear Actuator Screw Axis Stewart Platform Reciprocal Connection 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • A. E. Samuel
    • 1
  • P. Ridley
    • 1
  1. 1.Engineering Design Group Department of Mechanical and Industrial EngineeringThe University of MelbourneMelbourneAustralia

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