Title :
Dynamic whole-arm dexterous manipulation in the plane
Author :
Yeap, S.L. ; Trinkle, J.C.
Author_Institution :
Texas A&M Univ., College Station, TX, USA
Abstract :
A dynamic model of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact forces between the object and manipulator are calculated to determine whether contacts can be maintained for the planned motion. Compressive contact forces indicate that contacts can be maintained for the specified manipulation plan and this implies that actual dynamic manipulation succeeds. Results of the solution of dynamic equations are given for selected objects and video images of successful plans are shown
Keywords :
Jacobian matrices; manipulator dynamics; manipulator kinematics; path planning; compressive contact forces; dynamic equations; dynamic whole-arm dexterous manipulation; manipulation plan; video images; Acceleration; Actuators; Bismuth; Equations; Fingers; Friction; Manipulator dynamics; Motion planning; Robot sensing systems; Torque;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525917
