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Multiple sensor smart robot hand with force controlA smart robot hand developed at JPL for the Protoflight Manipulator Arm (PFMA) is described. The development of this smart hand was based on an integrated design and subsystem architecture by considering mechanism, electronics, sensing, control, display, and operator interface in an integrated design approach. The mechanical details of this smart hand and the overall subsystem are described elsewhere. The sensing and electronics components of the JPL/PFMA smart hand are summarized and it is described in some detail in control capabilities.
Document ID
19890000722
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Killion, Richard R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Robinson, Lee R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bejczy, Antal (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 5, 2013
Publication Date
January 1, 1987
Publication Information
Publication: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics
Subject Category
Man/System Technology And Life Support
Accession Number
89N10093
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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