MRI: Acquisition of a Barrett Robot Hand System

EIA-9977310 Dawson，Darren M.Paul，Frank W.克莱姆森大学MRI：购买巴雷特机器人手系统为了补充正在进行和未来研究中使用的复杂机器人试验台的需求，该提案要求为巴雷特机器人手系统提供资金。 该机器人允许研究人员直接访问和修改的正弦整流电流放大器，因此，其开放的控制架构有利于设计和开发先进的低级别的位置/力控制器的多自由度机器人系统。 更重要的是，多个自由度和末端执行器安装的手允许一个专注于特定的灵巧操作问题。 此外，所要求的系统具有先进的高速电缆传输系统（末端执行器的峰值速度为6 m/s，峰值加速度为6 g），便于高速操作。

EIA-9977310Dawson, Darren M.Paul, Frank W.Clemson UniversityMRI: Acquisition of a Barrett Robot Hand SystemTo supplement the need for a sophisticated robotic test-bed used in ongoing and future research, this proposal requests funding for a Barrett Robot-Hand System. This robot allows a researcher to directly access and modify the sinusolidally commutated current amplifiers; hence, its open control architecture facilitates the design and development of advanced low-level position/force controllers for multiple degree of freedom robotic systems. More importantly, the multiple degrees of freedom and the end-effector mounted hand allow one to focus on specific dexterous manipulation problems. In addition, the requested system with its advanced, high-speed cable transmission system (peak velocity of 6 m/s and peak acceleration of 6 g's at the end-effector) facilitates high-speed manipulation.