Title :
Enveloping grasp feasibility inequality
Author :
Park, Jonghoon ; Harada, Kensuke ; Kaneko, Makoto
Author_Institution :
Fac. of Eng., Hiroshima Univ., Japan
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932951
