Kinematic and dynamic analyses of the Stanford/JPL robot hand. [MACSYMA]

摘要

This report develops the kinematic and dynamic equations for one finger of the three-fingered Stanford/JPL robot hand and documents the physical parameters needed to implement the equations. The equations can be used in control schemes for position and force control of the Stanford/JPL robot hand. The output file for the MACSYMA program is given. 4 refs., 6 figs., 1 tab.