Title :
A novel analytical method for finger position regions on grasped object
Author :
Yu, Yong ; Li, Ying ; Tsujio, Showzow
Author_Institution :
Dept. of Mech. Eng., Kagoshima Univ., Japan
Abstract :
An analytical approach is proposed for obtaining finger position regions of an object with a multi-fingered hand. First, a method to obtain which combination of the object edges is possible to be used for grasping, is given. Then, a graspable finger position region on a combination of edges is defined where the object can be held successfully. It is shown that the region is bounded by plural boundary hyperplanes. By combining these boundary hyperplanes, two propositions for exactly obtaining the graspable finger position region by using an analytical method, are proposed. Finally, numerical examples are performed to show the effectiveness of the proposed approach
Keywords :
dexterous manipulators; force control; friction; position control; boundary hyperplanes; force control; friction; graspable finger position region; grasping; manipulators; multifingered hand; position control; Fingers; Friction; Grasping; Mechanical engineering; Performance analysis; Robot kinematics; Robotics and automation; Shape;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976289
