Title :
A practical stability measure of grasping
Author :
Jang, Myeongeon ; Lee, Jihong
Author_Institution :
Dept. of R&D, Planning Agency for Defense Dev., Daejeon, South Korea
Abstract :
In this paper, we present the stability measure of grasping for multi-fingered robots. The stability measure of grasping is the resistance force and moment of multi-fingered robots that can withstand the external disturbance forces and moments. We calculate translational and rotational acceleration convex polytopes which are considered the properties of objects and robots. Therefore, we produce the resistance force and moment respectively which are absolutely stable about external disturbances in all directions. The effectiveness of this method is verified with an example.
Keywords :
dexterous manipulators; stability; convex polytope; multifingered robot; practical stability measure; rotational acceleration; translational acceleration; Acceleration; Electrical resistance measurement; Equations; Fingers; Force measurement; Gravity; Intelligent robots; Service robots; Shape; Stability analysis;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229739
