Dynamic simulation of enveloping power grasps

Author

Mirza, Khalid ; Hanes, Mark D. ; Orin, David E.

Author_Institution

Trellis Software & Controls, Rochester Hills, MI, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

430

Abstract

A dynamic simulation method for enveloping power grasps is presented. The method very effectively models all major grasp conditions and phenomena to achieve a realistic simulation of power grasp. A compliant contact model is developed to solve the static indeterminacy problem in a multiple-contact power grasp. A dynamic simulation algorithm is developed based on a discrete-time, state variable approach. The algorithm models friction, rolling, slipping, and wedging effects, as well as the changing topological structure of power grasp dynamics. The simulation algorithm is implemented for the DIGITS Grasping System. Results of quasi-static and dynamic stability experiments are discussed

Keywords

discrete time systems; manipulators; stability; DIGITS; compliant contact model; discrete-time approach; dynamic simulation method; dynamic stability; enveloping power grasps; friction; grasp conditions; quasi-static stability; rolling; slipping; state variable approach; static indeterminacy problem; topological structure; wedging; Analytical models; Computational modeling; Contacts; Control system analysis; Fingers; Heuristic algorithms; Performance analysis; Power system modeling; Robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291919

Filename

291919