DocumentCode
414309
Title
Stable grasping and relative angle control of an object by dual finger robots without object sensing
Author
Ozawa, Ryuta ; Arimoto, Sugum ; Yoshida, Mono ; Nakamura, Shinsuke
Author_Institution
Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan
Volume
2
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
1694
Abstract
This paper proposes stable grasping and angle control methods of an object with parallel surfaces by a pair of finger robots in a horizontal plane. The method does not require any object sensing for stable grasping but only measurement of the object angle for absolute orientation angle control. Relative orientation angle control of the grasped object can be attained even if no object sensing is used.
Keywords
angular measurement; dexterous manipulators; force control; grippers; spatial variables control; dual finger robots; object angle measurement; orientation angle control; relative angle control; stable object grasping; Control systems; Feedback; Fingers; Force control; Friction; Linear programming; MONOS devices; Parallel robots; Robot kinematics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308068
Filename
1308068
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