Modeling and control of compact anthropomorphic robot finger

• Main Authors: Zainul Azlan, Norsinnira, Yamaura, Hiroshi
• Format: Conference or Workshop Item
• Language: English
• Published: 2011
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/47727/4/47727-article.pdf; http://irep.iium.edu.my/47727/; http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=5961157#

This paper presents the development of the mathematical model and controller of a light weight and small size robot finger. The finger possesses self adaptive grasping capability and is made of seven bar linkages with a slider or lead screw mechanism in the middle phalanx to adjust its effective le...