In analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT dextrous hand has been performed. An accurate dynamic model has been developed and verified which includes detailed representation of the jet pipe element, orifice areas and fluid flows. The effects and modeling of hysteresis in the jet pipe are discussed. Actuator saturation is shown to be an obstacle in achieving high bandwidth. Theoretical and experimental results are presented for frequency response and time-domain force tracking.

An analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT Dextrous Hand (UMDH) has been performed. An accurate dynamic model has been developed and verified which includes detailed representation of the jet pipe element, orifice areas and fluid flows. The effects and modelling of hysteresis in the jet pipe are discussed. Theoretical and experimental results are presented for closed-loop force control showing that the force bandwidth can be raised as high as 80 Hz.>

A method for kinematic calibration is presented, which directly estimates the Jacobian matrix from measurements and extracts the kinematic parameters from the Jacobian exactly and without iteration. Two different experimental approaches are presented for measuring the Jacobian. In the first approach, a six degree-of-freedom manipulator is rigidly attached to the environmental at its endpoint, in one pose only. Joint torques are systematically exerted and the resulting endpoint forces and torques are measured. In the second approach, a manipulator attains different motions through the same endpoint location, and the joint velocities are related to measured endpoint linear and angular velocities. Simulations are presented to verify the method.>