Title :
Stiffness analysis and control of multi-fingered robot hands
Author :
Choi, H.R. ; Chung, W.K. ; Youm, Y.
Author_Institution :
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
fDate :
29 June-1 July 1994
Abstract :
Describes the stiffness of a grasp as a function of grasp configuration, grasping forces and joint stiffness of the fingers. The effects caused by the change of joint configuration is included in the computation of the joint stiffness in terms of stiffness induced from configuration change and force (SICC). Based on the analysis, the decentralized object stiffness control (DOSC) method is proposed so as to achieve the desired overall grasp stiffness. The effects of SICC at the joint stiffness and the performance of the proposed stiffness control method are experimentally verified using a two fingered robot hand.
Keywords :
decentralised control; manipulators; configuration change; decentralized object stiffness control; grasp configuration; grasp stiffness; grasping forces; joint configuration; joint stiffness; multi-fingered robot hands; stiffness analysis; two fingered robot hand; Fingers; Friction; Grasping; Gravity; Manipulators; Mechanical engineering; Radiofrequency interference; Robot control; Robot kinematics; Springs;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751814
