Cartesian impedance control of dexterous robot hand
摘要
Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.
引用本文（GB/T 7714）
Cai He-gao. Cartesian impedance control of dexterous robot hand[J]. 哈尔滨工业大学学报：英文版, 2005.
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