Accession Number : ADA299047

Title :   Controller Studies for Dexterous Hand Manipulation.

Descriptive Note : Final rept. Oct 87-Oct 94,

Corporate Author : ARMSTRONG LAB WRIGHT-PATTERSON AFB OH CREW SYSTEMS DIRECTORATE

Personal Author(s) : Repperger, Daniel W.

PDF Url : ADA299047

Report Date : OCT 1994

Pagination or Media Count : 22

Abstract : The UTAH/MIT dexterous hand is a robotic manipulator built to emulate the human tendon system. When using this robotic system, it was observed that when motion occurred at the lower joints, the upper joints moved through inertial coupling. The coupling was always from a proximal joint to a distal joint. It was desired to find a method to add a controller action such that additional joint inputs could be added to the upper joints and thus preclude the coupling effects induced as the joints rotate. A controller was designed and tested in a numerical simulation at Wright State University as part of a Masters of Science degree in Electrical Engineering. With the use of the controller, over 90% of the coupling effects could be reduced with the use of the algorithm developed.

Descriptors :   *ROBOTICS, *MANIPULATORS, *HANDS, KINEMATICS, MATHEMATICAL MODELS, ALGORITHMS, COUPLING(INTERACTION), CONTROL, SIMULATION, AIR FORCE RESEARCH, SURVIVABILITY, HUMANS, NUMERICAL ANALYSIS, MOTION, BIOLOGICAL WARFARE, CHEMICAL WARFARE, CALIBRATION, JOINTS, UTAH, ELECTRICAL ENGINEERING, TENDONS, RADIOLOGICAL WARFARE.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE