DocumentCode
339535
Title
Grasping with elastic finger tips
Author
Choi, K.K. ; Jiang, S.L. ; Li, Z.
Author_Institution
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, Hong Kong
Volume
2
fYear
1999
fDate
1999
Firstpage
920
Abstract
Investigates the stiffness and kinematics of an object grasped by multiple elastic fingers. The derivation is based on the work of Svinin (1995), but derived with the approach of minimization of energy and using Montana´s (1989) equations of contact model. The result gives a closed form expression of object stiffness in terms of contact finger stiffness, contact locations and contact point curvatures
Keywords
Jacobian matrices; dexterous manipulators; manipulator kinematics; minimisation; tactile sensors; closed form expression; contact point curvatures; elastic finger tips; energy minimisation; equations of contact; grasping; stiffness; Angular velocity; Equations; Fingers; Helium; Jacobian matrices; Kinematics; Motion analysis; Potential energy; Power engineering and energy; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772422
Filename
772422
Link To Document