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dc.contributor.advisor Cheatham, John B., Jr.
dc.creatorHanusa, Paul Jeffrey
dc.date.accessioned 2009-06-03T23:52:38Z
dc.date.available 2009-06-03T23:52:38Z
dc.date.issued 1992
dc.identifier.urihttps://hdl.handle.net/1911/13654
dc.description.abstract The trajectory planning and control system for a mechanical, 3-fingered, dextrous hand are analyzed and implemented. The forward and inverse kinematics of the fingers are derived and used to analyze the capabilities of the hand. The simple and effective grasping strategy employs minimal trajectory planning and relies solely on force feedback to define finger position and orientation. A force feedback controller is implemented on the hand which allows independent control of each finger. The hand is used in conjunction with a robotic arm to execute various tasks which require hand dexterity.
dc.format.extent 160 p.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subjectMechanical engineering
Electronics
Electrical engineering
Computer science
dc.title A practical application of a force feedback control system for a mechanical, 3-fingered, dextrous hand
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Computer Science
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
dc.identifier.citation Hanusa, Paul Jeffrey. "A practical application of a force feedback control system for a mechanical, 3-fingered, dextrous hand." (1992) Master’s Thesis, Rice University. https://hdl.handle.net/1911/13654.


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