DocumentCode
1747463
Title
Optimization of power grasps for multiple objects
Author
Yoshikawa, T. ; Watanabe, T. ; Daito, M.
Author_Institution
Dept. of Mech. Eng., Kyoto Univ., Japan
Volume
2
fYear
2001
fDate
2001
Firstpage
1786
Abstract
Power grasp is a grasp that can hold objects stably without changing the joint torques of fingers. Almost all studies on power grasp deal with one object, but it is more efficient to hold multiple objects at the same time. This paper derives a condition for power grasp for multiple objects, and defines an optimal power grasp from the viewpoint of decreasing the work of joint torques. Finally, we show some numerical examples to verify the validity of our approach.
Keywords
friction; manipulator kinematics; optimisation; torque control; contact force; friction; joint torques; kinematics; multiple object grasping; optimization; power grasps; Fingers; Grasping; Kinematics; Mechanical engineering; Resists; Robots; Robustness; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932868
Filename
932868
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