DLR hand II: hard- and software architecture for information processing

In the robotic community more and more hands have been developed. These newly designed manipulators greatly outperform their ancestors in terms of available sensor signals, applicable grasping force, mechanical stability, reliability, kinematic design and more. This development extends the possible...

Full description

Saved in:
Bibliographic Details
Main Authors: Haidacher, S., Butterfass, J., Fischer, M., Grebenstein, M., Joehl, K., Kunze, K., Nickl, M., Seitz, N., Hirzinger, G.
Format: Conference Proceeding
Language:English
Subjects:
Application software
Force sensors
Grasping
Information processing
Manipulators
Mechanical sensors
Robot sensing systems
Signal design
Software architecture
Stability
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In the robotic community more and more hands have been developed. These newly designed manipulators greatly outperform their ancestors in terms of available sensor signals, applicable grasping force, mechanical stability, reliability, kinematic design and more. This development extends the possible range and complexity of applications of robotic grippers also to areas outside of well structured laboratories and simple tasks. It also calls for more flexible control structures to provide a framework for implementing and executing these newly arising tasks without having to start from scratch for each new task. During the last few years we developed a control system architecture for DLR hand II that proved to be useful for a great variety of different applications. This paper presents the basic ideas behind DLR hand II's hard- and software architecture adapted to new needs in data processing.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1241673