Multivariable feedback control of the JPL/Stanford hand

Dexterous hands offer a great deal of flexibility in grasping and manipulation. As such, it can be used as a powerful device for assembly. However, we have to guarantee stable behavior and good performance from the hand and so attention must be focused on control issues. In this paper we deal with the control of the JPL/STANFORD hand. We use kinematic relationships developed earlier and suggest dynamic models for the fingers. We then develop Linear Multivariable Feedback Control strategies which guarantee local stability for controlling one finger. We employ design methods in the frequency domain, based on pole assignment techniques. Controllers are designed for a simple dynamic model and implemented on one finger. Results are presented along with a discussion for future work.