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Control and Geometrical Considerations for an Articulated Robot Hand

Meiji University Kawasaki 214, Japan

This paper discusses the grasping and manipulation of ob jects by an articulated robot hand. Necessary conditions for the grasping and manipulating abilities of a robot hand are determined, and ways to control the hand based on these conditions are proposed. The efficiency is illustrated on an experimental basis for a 3-finger, 12-joint robot hand.

The International Journal of Robotics Research, Vol. 4, No. 1, 3-12 (1985)
DOI: 10.1177/027836498500400101


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