DocumentCode
2538296
Title
Computer architecture and low level control of the PUMA/RAL hand system: Work in progress
Author
Kim, J.J. ; Blythe, D.R. ; Penny, D.A. ; Goldenberg, A.A.
Author_Institution
University of Toronto
Volume
4
fYear
1987
fDate
31837
Firstpage
1590
Lastpage
1594
Abstract
The RAL hand is a fifteen joint, four fingered hand, which can be easily attached to a commercial robot, in particular, a PUMA 560 industrial robot. A computer architecture which integrates both control of the RAL hand joints and PUMA arm is under development. The complete system will be able to perform operations requiring coordinated motions of the arm and hand. This paper describes the layout of the RAL hand, the computer architecture and interfaces to the manipulator, and the concept for low level control.
Keywords
Anthropomorphism; Automatic control; Computer architecture; Fingers; Grippers; Level control; Robot kinematics; Robotic assembly; Robotics and automation; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087797
Filename
1087797
Link To Document