Title :
A three fingered, multijointed gripper for experimental use
Author :
Paetsch, W. ; Kaneko, M.
Author_Institution :
Dept. of Control Eng., Tech. Univ. of Darmstadt, Germany
Abstract :
A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported
Keywords :
force control; position control; robots; control architecture; force control; grasping; manipulators; object manipulation; position control; three fingered multijointed robot gripper; Computational modeling; Computer simulation; Control systems; Fingers; Force control; Grasping; Grippers; Orbital robotics; Robot sensing systems; Space technology;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262505
