Redundancy and fault-tolerance in grasping and manipulation by multifingered hands

Author

Li, Luya ; Gruver, William A. ; Zhang, Tiehua

Author_Institution

Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada

fYear

1997

fDate

7-9 Jul 1997

Firstpage

325

Lastpage

330

Abstract

This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure are presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution

Keywords

compensation; manipulator dynamics; manipulator kinematics; optimal control; redundancy; finger reconfiguration; grasping; hand-object systems; joint torque redistribution; manipulation; minimum-case measure; multifingered hands; optimal fault-tolerant control strategies; optimization method; potential task failure compensation; redundancy; Equations; Fault tolerance; Fault tolerant systems; Fingers; Force measurement; Grasping; Intelligent robots; Manufacturing systems; Pollution measurement; Redundancy;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620202

Filename

620202