Title :
A versatile hand for manipulators
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Current research on a versatile mechanical hand for robotic arms is described. This mechanical hand is a self-contained, autonomous system capable of executing high-level commands from a supervisory computer. It consists of parallel fingers powered by a DC motor and controlled by a microcomputer embedded in the hand housing. Sensors are integrated in the hand for measuring grasp force of fingers and forces and torques applied between the arm and the surrounding environment. Fingers can be moved in position control, velocity control, or force control modes, and all collected data are transmitted to the supervisory computer. Data on performance and effectiveness in teleoperation experiments are presented.<>
Keywords :
DC motors; force control; force measurement; microcomputer applications; position control; robots; torque measurement; velocity control; DC motor; force control; force measurement; high-level commands; manipulators; mechanical hand; parallel fingers; position control; robotic arms; supervisory computer; teleoperation experiments; torque measurement; velocity control; Arm; DC motors; Fingers; Force measurement; Force sensors; Manipulators; Mechanical sensors; Microcomputers; Robot sensing systems; Torque measurement;
Journal_Title :
Control Systems Magazine, IEEE
