DocumentCode
1747516
Title
Enveloping grasp feasibility inequality
Author
Park, Jonghoon ; Harada, Kensuke ; Kaneko, Makoto
Author_Institution
Fac. of Eng., Hiroshima Univ., Japan
Volume
3
fYear
2001
fDate
2001
Firstpage
2210
Abstract
The enveloping grasp feasibility inequality is formulated in this article using a coordinate transformation based on the concept of frictional degrees-of-freedom. Various analysis and synthesis problems pertinent to enveloping grasp of whole-limb systems can be handled within the same mathematical framework, even under the situation where statically indeterminate contact forces exists. Simulations are also shown to explain the basic idea.
Keywords
computational geometry; dexterous manipulators; force control; friction; manipulator kinematics; stability; contact forces; coordinate transformation; enveloping grasp; friction; geometric decomposition; kinematics; power grasp; stability; whole-limb systems; Friction; Helium; Orbital robotics; Robot kinematics; Robust stability; Robustness; Stability analysis; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932951
Filename
932951
Link To Document