DocumentCode
1747515
Title
Rigid body analysis of power grasps: bounds of the indeterminate grasp force
Author
Omata, Toru
Author_Institution
Tokyo Inst. of Technol., Yokohama, Japan
Volume
3
fYear
2001
fDate
2001
Firstpage
2203
Abstract
The equilibrium equation of a power grasp cannot determine the grasp force uniquely in general. This paper proves that the indeterminate grasp force is, within a bounded hyper-polyhedron, not necessarily convex by considering the compatibility with rigid body motion. The maximum fraction angle is found at its vertex. Thus, if all forces at the vertices are within the friction cone, then all forces in the hyper-polyhedron are within the friction cone. Based on this analysis, we present an algorithm for computing the joint torques that can balance a given set of external disturbances.
Keywords
dexterous manipulators; force control; friction; manipulator dynamics; torque control; equilibrium equation; fraction angle; friction cone; hyper-polyhedron; indeterminate grasp force; manipulators; multifingered hand; power grasps; rigid body; Algorithm design and analysis; Equations; Fingers; Friction; Grasping; Motion analysis; Stability analysis; Sufficient conditions; Torque;
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.2001.932950
Filename
932950
Link To Document