Title :
Redundancy and fault-tolerance in grasping and manipulation by multifingered hands
Author :
Li, Luya ; Gruver, William A. ; Zhang, Tiehua
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure are presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution
Keywords :
compensation; manipulator dynamics; manipulator kinematics; optimal control; redundancy; finger reconfiguration; grasping; hand-object systems; joint torque redistribution; manipulation; minimum-case measure; multifingered hands; optimal fault-tolerant control strategies; optimization method; potential task failure compensation; redundancy; Equations; Fault tolerance; Fault tolerant systems; Fingers; Force measurement; Grasping; Intelligent robots; Manufacturing systems; Pollution measurement; Redundancy;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620202
