| EPSRC Reference: |
GR/N01347/01 |
| Title: |
ROPA: STIFFNESS-BASED DYNAMIC MODELLING & MOTION CONTROL OF A MULTI-FINGERED HAND WITH PASSIVE JOINTS |
| Principal Investigator: |
Dai, Professor J |
| Other Investigators: |
|
| Researcher Co-Investigators: |
|
| Project Partners: |
|
| Department: |
Mechanical Engineering |
| Organisation: |
Kings College London |
| Scheme: |
ROPA |
| Starts: |
18 July 2000 |
Ends: |
17 July 2002 |
Value (£): |
76,090
|
| EPSRC Research Topic Classifications: |
|
| EPSRC Industrial Sector Classifications: |
| Food and Drink |
No relevance to Underpinning Sectors |
|
| Related Grants: |
|
| Panel History: |
|
|
Summary on Grant Application Form |
|
The proposed research aims at the forefront research of a multi-fingered hand with passive joints. It is to investigate the stiffness of joints and dynamic coupling between the active and passive joints as well as between an object and an underactuated manipulator (finger). The programme is to augment the Jacobian matrix by incorporating stiffness properties, to prove the concept of using passive joints in a multi-fingered robot hand and to control the hand following any designated motion. Dynamic simulation will be presented and the principles and concept will be proved in a prototype rig produced from the company-sponsored project.
|
|
Key Findings |
|
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
|
|
Potential use in non-academic contexts |
|
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
|
|
Impacts |
|
| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
|
| Date Materialised |
|
|
|
|
Sectors submitted by the Researcher |
|
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
|
| Project URL: |
|
| Further Information: |
|
| Organisation Website: |
|