Dynamic modeling and force/position control for the Anthrobot dextrous robotic hand

The problem of position control and unit consistent hybrid position/force control of the Anthrobot robot hand is considered. A dynamic model, for the Anthrobot, is used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.< >

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Bibliographic Details
Main Authors: Zink, A.R., Kyriakopoulos, K.J.
Format: Conference Proceeding
Language:English
Subjects:
Analog-digital conversion
Fingers
Force control
Kinematics
Manipulators
Position control
Regulators
Robotics and automation
Robots
Servomechanisms
Online Access:Request full text
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Description
Summary:The problem of position control and unit consistent hybrid position/force control of the Anthrobot robot hand is considered. A dynamic model, for the Anthrobot, is used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.< >
DOI:10.1109/CDC.1993.325683