Dexterous Robotic Hands: Kinematics and Control
This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interest...
| Main Author: | |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6834 |
| _version_ | 1826191241557049344 |
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| author | Narasimhan, Sundar |
| author_facet | Narasimhan, Sundar |
| author_sort | Narasimhan, Sundar |
| collection | MIT |
| description | This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware. |
| first_indexed | 2024-09-23T08:53:09Z |
| id | mit-1721.1/6834 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:53:09Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/68342019-04-10T14:25:06Z Dexterous Robotic Hands: Kinematics and Control Narasimhan, Sundar hands kinematics computational architecture This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware. 2004-10-20T20:00:48Z 2004-10-20T20:00:48Z 1988-11-01 AITR-1056 http://hdl.handle.net/1721.1/6834 en_US AITR-1056 124 p. 22382491 bytes 8178665 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | hands kinematics computational architecture Narasimhan, Sundar Dexterous Robotic Hands: Kinematics and Control |
| title | Dexterous Robotic Hands: Kinematics and Control |
| title_full | Dexterous Robotic Hands: Kinematics and Control |
| title_fullStr | Dexterous Robotic Hands: Kinematics and Control |
| title_full_unstemmed | Dexterous Robotic Hands: Kinematics and Control |
| title_short | Dexterous Robotic Hands: Kinematics and Control |
| title_sort | dexterous robotic hands kinematics and control |
| topic | hands kinematics computational architecture |
| url | http://hdl.handle.net/1721.1/6834 |
| work_keys_str_mv | AT narasimhansundar dexterousrobotichandskinematicsandcontrol |