DLR-Hand II: next generation of a dextrous robot hand
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference(2001)
摘要
This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand.
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关键词
dexterous manipulators,electric actuators,force control,manipulator kinematics,Cartesian impedance control,DLR-Hand II,dextrous manipulators,force torque sensor,kinematics,multisensory hand,reconfigurable palm
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