Modular control technology for antroponiorphic robotic hands

Author

Giorgi, Fabio ; Caffaz, Andrea ; Casalino, Giuseppe ; Turetta, Alessio

Author_Institution

Graal Tech.

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

503

Lastpage

510

Abstract

This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular approach to the relevant motion control problem features is provided. Finally, the most significant implementation issues related to the candidate distributed control architecture are presented

Keywords

control system synthesis; dexterous manipulators; distributed control; embedded systems; field programmable gate arrays; motion control; anthropomorphic robotic hands; candidate distributed control architecture; embedded FPGA based control systems; human like robotic hands; modular control technology; motion control; multifingered robotic hands; tendon actuated mechanical design; Control systems; DC motors; Digital signal processing; Distributed control; Field programmable gate arrays; Hardware; Motion control; Programmable logic arrays; Robots; Tendons;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438600