Title :
Design and implementation of a multidegree of freedom intelligent robot hand
Author :
Luo, Ren C. ; Lin, Min-Hsiung ; Shih, C.K.
Author_Institution :
Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
Abstract :
A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed
Keywords :
robots; force changes; manipulator control algorithm; multidegree of freedom intelligent robot hand; parallel-jaw type multiple-d.o.f. robot hand; part insertion; part mating; DC motors; Fasteners; Fingers; Force control; Force sensors; Grippers; Intelligent robots; Manipulators; Parallel robots; Timing;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174564
