Title :
Robustness of power grasp
Author :
Zhang, X.-Y. ; Nakamura, Y. ; Goda, K. ; Yoshimoto, K.
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
Power grasp is redefined as a type of grasp that its mechanism can resist passively against external forces without relying on feedback control of joint torques. A computational algorithm is invented to calculate the critical external force, a force which is requisite to move the grasped object in a definite direction. Virtual work is proposed as the quality measure of the robustness of power grasp. Because this measure is a scalar, it is convenient and suitable for the planning of power grasp. The effectiveness of the computational algorithm of critical external force and quality measure of robustness of power grasp is verified with a numerical example
Keywords :
force control; manipulators; robust control; stability; computational algorithm; critical external force; joint torques; manipulator; power grasp; robustness; stability; Feedback control; Fingers; Force measurement; Friction; Grasping; Kinematics; Power measurement; Resists; Robots; Robustness;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350910
