Abstract
Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler-Lagrange' equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal.
| Original language | English |
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| Title of host publication | ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings |
| Pages | 695-699 |
| Number of pages | 5 |
| Publication status | Published - 2009 |
| Event | ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan Duration: Aug 18 2009 → Aug 21 2009 |
Other
| Other | ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 |
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| Country/Territory | Japan |
| City | Fukuoka |
| Period | 8/18/09 → 8/21/09 |
All Science Journal Classification (ASJC) codes
- Information Systems
- Control and Systems Engineering
- Industrial and Manufacturing Engineering