DocumentCode
3242432
Title
A practical stability measure of grasping
Author
Jang, Myeongeon ; Lee, Jihong
Author_Institution
Dept. of R&D, Planning Agency for Defense Dev., Daejeon, South Korea
fYear
2009
fDate
14-17 July 2009
Firstpage
1136
Lastpage
1141
Abstract
In this paper, we present the stability measure of grasping for multi-fingered robots. The stability measure of grasping is the resistance force and moment of multi-fingered robots that can withstand the external disturbance forces and moments. We calculate translational and rotational acceleration convex polytopes which are considered the properties of objects and robots. Therefore, we produce the resistance force and moment respectively which are absolutely stable about external disturbances in all directions. The effectiveness of this method is verified with an example.
Keywords
dexterous manipulators; stability; convex polytope; multifingered robot; practical stability measure; rotational acceleration; translational acceleration; Acceleration; Electrical resistance measurement; Equations; Fingers; Force measurement; Gravity; Intelligent robots; Service robots; Shape; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-2852-6
Type
conf
DOI
10.1109/AIM.2009.5229739
Filename
5229739
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