The LMS hand: force and position controls in the aim of the fine manipulation of objects

Author

Gazeau, J.P. ; Zehloul, S. ; Arsicault, M. ; Lallemand, J.P.

Author_Institution

Lab. de Mecanique des Solides, Poitiers Univ., France

Volume

3

fYear

2001

fDate

2001

Firstpage

2642

Abstract

The work deals with the development of the control of an articulated mechanical hand with the aim of fine manipulation of objects. This hand possess four fingers with four degrees of freedom. The sixteen joints are actuated using cable transmission and sixteen DC servo actuators. Position and force controls as well as their performances are presented and developed through examples. For the force control, an original method based on learning is developed. This method, using neural networks, allows us estimate the contact force by modeling the behaviour of the elastic transmission made with cables.

Keywords

dexterous manipulators; force control; fuzzy control; learning systems; manipulator kinematics; neurocontrollers; position control; two-term control; DC servo actuators; LMS hand; articulated mechanical hand; cable transmission; contact force; elastic transmission; fine manipulation; Anthropomorphism; Cables; Fingers; Force control; Grasping; Humans; Laboratories; Least squares approximation; Position control; Thumb;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933021

Filename

933021