TABLE OF CONTENTS

CHAPTER I INTRODUCTION
   1.1 Need for Such a System
   1.2 Objectives of the System
   1.3 How the system fits in

CHAPTER II OVERVIEW OF RELATED LITERATURE
   2.1 Cartesian Stiffness Control of the JPL/Stanford/Salisbury Hand
   2.2 Condor: A Revised Architecture for Controlling The Utah-MIT-Hand
   2.3 A New Architecture for Direct Drive Robots
   2.4 A Ground Test-Bed for Evaluation Concepts for the Special Purpose Dexterous Manipulator
   2.5 Development of Fuzzy Algorithms for Servo Systems

CHAPTER III PRELIMINARY INFORMATION
   3.1 Testing the Linearity of the System
   3.2 Breaking Function
   3.3 Methods for Comparison
   3.4 The 'Bang-Bang' Theory
   3.5 Tunings the 'Bang-Bang' Controller
   3.6 The Analog Control Theory
      3.6.1 Proportional Action
      3.6.2 Integral Action
      3.6.3 Derivative Action
      3.6.4 The 'P' Controller Theory
      3.6.5 The 'I' Controller Theory
      3.6.6 The 'PI' Controller Theory
   3.7 Tuning 'PID' Controllers Theory
      3.7.1 Open Loop Tests
      3.7.2 Closed-Loop Tuning
   3.8 Fuzzy Logic
      3.8.1 General Introduction to Fuzzy Logic
      3.8.2 Degree of Membership
      3.8.3 Fuzzy Rule Base
      3.8.4 The Fuzzy Process
      3.8.5 The 'Fuzzy' Controller
   3.9 Tuning 'Fuzzy' Controllers

CHAPTER IV SYSTEM OVERVIEW
   4.1 Mechanical
      4.1.1 The Hand
      4.1.2 Motors
      4.1.3 Optical Encoders
      4.1.4 Fingers
      4.1.5 Force Feedback
   4.2 Electrical
      4.2.1 Computer
      4.2.2 Micro-controller
      4.2.3 Signal Conditioning
      4.2.4 Interface Board
      4.2.5 PWM Circuit
      4.2.6 Power Board
      4.2.7 Decoding Circuit for the Encoders
      4.2.8 Miscellaneous Hardware

CHAPTER V ALGORITHMS AND RESULTS
   5.1 Control Algorithms
   5.2 Preliminary Information
      5.2.1 Motor Linearity Software
      5.2.2 Results from the Open Loop Tests
      5.2.3 The Breaking Function
      5.2.4 Results from the Closed Loop Test
   5.3 The 'Bang-Bang' Controller
   5.4 The 'P' Controller
   5.5 The 'I' Controller
   5.6 The 'PI' Controller
   5.7 Derivative Controllers
   5.8 The 'Fuzzy Logic' Controller

CHAPTER VI CONCLUSION
   6.1 Successes
   6.2 Shortcomings
   6.3 Algorithm Results
   6.4 Possible Future Projects
      6.4.1 Stick-Slip
      6.4.2 Hybrid Position/Force Control
      6.4.3 Compliance

REFERENCES 

APPENDIX A

APPENDIX B

APPENDIX C

APPENDIX D

APPENDIX E

APPENDIX F

VITA