DocumentCode
1066168
Title
Kinematics and control of multifingered hands with rolling contact
Author
Cole, Arlene B A ; Hauser, John E. ; Sastry, S. Shankar
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Volume
34
Issue
4
fYear
1989
fDate
4/1/1989 12:00:00 AM
Firstpage
398
Lastpage
404
Abstract
The kinematics of rolling contact are derived for two surfaces of arbitrary shape rolling on each other. The kinematic equations are applied to a multifingered hand manipulating some object of arbitrary shape in three dimensions, and a scheme is presented for the control of such a hand which is a generalization of the computed torque method of control of robot manipulators. In implementing the control, it is required that all applied forces lie within the friction cone of the object so that sliding does not occur. The theory has been validated by dynamic graphical simulations of the resulting closed-loop system for several examples
Keywords
closed loop systems; force control; kinematics; robots; closed-loop system; friction cone; kinematics; manipulators; multifingered hands; robot; rolling contact; Computational modeling; Equations; Fingers; Force control; Friction; Kinematics; Manipulator dynamics; Robot control; Shape control; Torque control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.28014
Filename
28014
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