DocumentCode :
1574576
Title :
On grasping and coordinated manipulation by a multifingered robot hand
Author :
Hsu, Ping ; Li, Zexiang ; Sastry, Shankar
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
fYear :
1988
Firstpage :
384
Abstract :
Two problems in the study of multifingered robot hands are considered, namely grasp planning and the determination of coordinated control laws with point contact models. using the dual notions of grasp stability and manipulability, and a procedure previously developed for task modeling, the structure grasp quality measures are defined. These measures are then integrated to devise a grasp planning algorithm. Based on the assumption of point contact models, a computed-torque-like control algorithm is developed for the coordinated manipulation of a multifingered robot hand. This control algorithm, which takes into account both the dynamics of the object and the dynamics of the hand, is computationally effective and can be generalized to allow rolling motion of the object with respect to the fingertip
Keywords :
robots; computed-torque-like control algorithm; coordinated manipulation; grasp stability; manipulability; multifingered robot hand; point contact models; rolling motion; structure grasp quality; Fingers; Friction; Grasping; Laboratories; Motion control; Motion planning; Planing; Robot kinematics; Robotics and automation; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
Type :
conf
DOI :
10.1109/ROBOT.1988.12078
Filename :
12078
Link To Document :
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