Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand
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.
KeywordsTorque Control Linear Actuator Screw Axis Stewart Platform Reciprocal Connection
Unable to display preview. Download preview PDF.
- Cutkosky M.R. (1985) Robotic Grasping and Fine Manipulation, Kluwer Acad.Google Scholar
- Hunt K.H. (1978) Kinematic Geometry of Mechanisms, Clarendon, Oxford.Google Scholar
- Hunt K.H.(1985) Robot Kinematics-a Compact Analytic Inverse Solution for Velocities, ASME (in press)Google Scholar
- Okada T. (1982) Computer Control of Multijointed Finger System for Precise Handling, IEEE Trans. on Sys. Man and Cybern. SMC-12, 3, pp 289–299.Google Scholar
- Kato I. (1982) Mechanical Hands Illustrated, Hemisphere, N.Y.Google Scholar
- Phillips J. (1984) Freedom in Machinery Vol. 1, Introducing Screw Theory, Cambridge University Press.Google Scholar
- Ridley P.R. (1986) Mechanics and Control of an Articulated Multi Fingered Robot Gripper, M. Eng. Sci.-Design Group University Of Melbourne.Google Scholar
- Rovetta A. (1977) On Specific Problems of Design of Multipurpose Mechanical Hands in Industrial Robots, 7th. ISIR, Tokyo, pp 337–343.Google Scholar
- Samuel A.E. and Ridley P.R. (1985a) Design and Development of a Flexible Robot Hand, Trans. I.E. Aust. Mech. Eng., ME10 ,3, Sept.pp 208–212.Google Scholar
- Samuel A.E. and Ridley P.R. (1985b) Motion and Control of a Flexible Robot Gripper, Int. Conf. on Adv. Robotics., Tokyo, pp 295–302.Google Scholar
- Wright P.K. and Cutkosky M.R. (1984) Design of Grippers, in Handbook of Industrial Robotics, S. Nof.,editors. Wiley,N.Y. ch. 2. 4.Google Scholar