The UB Hand II control system: design features and experimental results

In this paper the main features of the control system of the University of Bologna Robotic Hand Version II, its sensory and actuation systems are presented and discussed. The hand, a three fingered articulated hand with high dexterity features, is installed on an anthropomorphic arm, a PUMA 560, and in total the system has 16 degrees of freedom. Details about the overall control system architecture and some preliminary experimental results are given. The control system is based on a multiprocessor hardware platform and multilayer software levels: a Sun Sparcstation for the user interface, a 68030 and DSP boards on VME bus for real-time coordination, a custom DSP-based board located at the forearm level, that ensures the hardware support for real-time force computation and position/torque servo loops for the hand.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>