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Articulated Hands

1982; SAGE Publishing; Volume: 1; Issue: 1 Linguagem: Inglês

10.1177/027836498200100102

1741-3176

J. Kenneth Salisbury, John Craig,

Teleoperation and Haptic Systems

Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.