A new theory in stiffness control for dextrous manipulation

Author

Chen, Shih-feng ; Li, Yanmei ; Kao, Imin

Author_Institution

Dept. of Mech. Eng., Lunghwa Inst. of Technol., Taiwan

Volume

3

fYear

2001

fDate

2001

Firstpage

3047

Abstract

A new discovery on the stiffness control in robotics, as well as its applications in grasping and dextrous manipulation, is presented. Extended from the conservative congruence transformation (CCT) theory, the new theory accounts for the change in geometry and the non-commutative rotational property of the Cartesian stiffness in grasping and dextrous manipulation using stiffness control when the external force is applied. The theory, with the consideration of rotational effect in SE(3), as developed by using the geometrical method. The method along with an example presented in this paper provides a systematic way of constructing 6×6 Cartesian stiffness matrices in robotic grasping/manipulation and stiffness control for dextrous manipulation.

Keywords

Jacobian matrices; dexterous manipulators; geometry; manipulator dynamics; mechanical variables control; Cartesian stiffness matrix; Jacobian matrix; dextrous manipulators; geometry; robotic grasping; rotational effect; stiffness control; Computational geometry; Control systems; Fingers; Force control; Grasping; Jacobian matrices; Mechanical engineering; Orbital robotics; Robot kinematics; Symmetric matrices;

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.2001.933085

Filename

933085