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International Journal of Engineering, Science and Technology
In this paper, the authors describe and demonstrate how a three fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. Satisfactory motion responses for the finger simulation are achieved. The fine motion including force feedback and the gross motions, which orientate the fingers into their approximate configuration are provided by a classical PD control strategy. The force controlling gripper in contact with the environment is very importantdoi:10.4314/ijest.v3i6.2s fatcat:rmv4zber3vebxlssavf7ftvcxm