• CN: 11-2187/TH
  • ISSN: 0577-6686

›› 1994, Vol. 30 ›› Issue (6): 73-78.

• Article • Previous Articles     Next Articles

STUDY ON CONTROL ALGORITHM FOR A TWO FINGERS HAND

Xu Jiaqiu;Wang Jinsong;Zou Minwei;Zhang Bopeng   

  1. Qinghua University
  • Published:1994-11-01

Abstract: Robot should be equipped with different effectors for different tasks, Two fingers hands may be used for robotized flexible assembly operation. Static and kinematic analyses on a two fingers hand was performed. Sufficient and essential conditions for grasp stability were discussed. A kinematic control algorithm was proposed.

Key words: Control, Grasp stability, Robot, Two fingers hand