Abstract
The purpose of this research is the configuration of the new control system which uses intelligent encoders. The intelligent encoder consists of a high resolution encoder and a small information processor. This information processor has high-speed pulse counters, calculation units, judgment units, control signal output units, etc. We have made a prototype of the finger system which consists of 2 driving joints and 1 driven joint. The system has three encoders attached to the joint, and two encoders attached to the motor. From the measurement pulses of these encoders, operation processors generate the control signals by which two motors are driven. This paper reports the system outline and basic performance experiment result.
