Title :
Force distribution by optimizing friction angles for multifinger system
Author :
Chung, Wen-Yeuan ; Waldron, Kenneth J.
Author_Institution :
Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
An efficient way of finding the force distribution by optimizing the contact friction angles, which are the angles between the contact forces and contact normals, for multifinger grasping systems is developed. Three steps (projection, residual wrench equilibrium, and optimization) are proposed to solve the force distribution problem. Examples are presented to show how the proposed method works. The results are also compared to those obtained by using Lagrange multipliers. The proposed method shows sufficient efficiency to be used for real-time control applications
Keywords :
control system analysis; force control; manipulators; optimisation; Lagrange multipliers; force distribution; friction angles; multifinger grasping systems; optimization; projection; real-time control; residual wrench equilibrium; Fingers; Friction; Geometry; Lagrangian functions; Linear programming; Linearization techniques; Mechanical engineering; Nonlinear equations; Resists; Stability analysis;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292230
