Friction in tendon based robot hands has been an unavoidable problem. With introduction of more dexterous and metamorphic hands this intrinsically non-linear and highly time-varying force has become an obstacle to achieve high performances and required accuracy which the robot designers are aiming for. This paper proposes a method to tackle the problem by measuring friction and applying it in a feed forward loop. The novelty of the method is in the possibility to perform the task automatically and on a regular basis to compensate the time varying phenomenon. © Springer-Verlag London 2012.
CITATION STYLE
Aminzadeh, V., Walker, R., Cupcic, U., Hugo, E., & Dai, J. S. (2012). Friction compensation and control strategy for the dexterous robotic hands. In Advances in Reconfigurable Mechanisms and Robots I (pp. 697–705). https://doi.org/10.1007/978-1-4471-4141-9_62
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