DocumentCode :
1401676
Title :
Computing and controlling compliance of a robotic hand
Author :
Cutkosky, Mark R. ; Kao, Imin
Author_Institution :
Dept. of Mech. Eng., Stanford Univ., CA, USA
Volume :
5
Issue :
2
fYear :
1989
fDate :
4/1/1989 12:00:00 AM
Firstpage :
151
Lastpage :
165
Abstract :
The authors express the compliance of the grasp of a robotic hand as a function of grasp geometry, contact conditions between the fingers and the grasped object, and mechanical properties of the fingers. It is argued that the effects of structural compliance and small changes in the grasp geometry should be included in the computation. Factors are then examined that can lead a grasp to become unstable, independently of whether it satisfies force closure. Finally, the authors examine the reverse problem of how to specify servo gains at the joints of a robotic hand so as to achieve, as nearly as possible, a desired overall grasp compliance. It is shown that coupling between the joints of different fingers is useful in this context
Keywords :
computerised control; mechanical engineering computing; robots; compliance; computerised control; contact conditions; grasp geometry; mechanical engineering computing; mechanical properties; robotic hand; Automatic control; Concatenated codes; Fingers; Geometry; Jacobian matrices; Manufacturing automation; Robot kinematics; Robotic assembly; Robotics and automation; Servomechanisms;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.88036
Filename :
88036
Link To Document :
بازگشت