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- W11813289 abstract "Improved dexterity is an area of current research in robotics. At Sandia National Laboratories and the University of New Mexico we are pursuing research in this area with the aid of a Stanford/JPL hand from Salisbury Robotics. In this paper we present some of the issues raised in studying the characteristics and control of a single finger of the dexterous hand. The issues we present are dynamic modeling, a friction model and its influence on joint control, and several approaches to controlling the hand including a model-based approach to decouple the joint dynamics and reduce the nonlinear frictional effects. We also discuss our present method for control and mention the direction of our future research." @default.
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- W11813289 date "1986-10-01" @default.
- W11813289 modified "2023-09-27" @default.
- W11813289 title "Control and simulation of a three-jointed finger" @default.
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