Modeling and control of a pair of robot fingers with saddle joint under orderless actuations

Morio Yoshida; Suguru Arimoto; Kenji Tahara

doi:10.1109/ROBOT.2009.5152733

Modeling and control of a pair of robot fingers with saddle joint under orderless actuations

Morio Yoshida, Suguru Arimoto, Kenji Tahara

Control Systems

Research output: Contribution to journal › Conference article › peer-review

4 Citations (Scopus)

Abstract

A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input.

Original language	English
Article number	5152733
Pages (from-to)	2499-2505
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ROBOT.2009.5152733
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: May 12 2009 → May 17 2009

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2009.5152733

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title = "Modeling and control of a pair of robot fingers with saddle joint under orderless actuations",

abstract = "A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input. ",

author = "Morio Yoshida and Suguru Arimoto and Kenji Tahara",

note = "Funding Information: This work was partially supported by Japan Society for the Promotion of Science (JSPS), Grant-in-Aid for Scientific Research (B) (20360117). Publisher Copyright: {\textcopyright} 2009 IEEE.; 2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

year = "2009",

doi = "10.1109/ROBOT.2009.5152733",

language = "English",

pages = "2499--2505",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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TY - JOUR

T1 - Modeling and control of a pair of robot fingers with saddle joint under orderless actuations

AU - Yoshida, Morio

AU - Arimoto, Suguru

AU - Tahara, Kenji

PY - 2009

Y1 - 2009

N2 - A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input.

AB - A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input.

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DO - 10.1109/ROBOT.2009.5152733

M3 - Conference article

AN - SCOPUS:76249092715

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EP - 2505

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

M1 - 5152733

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

Modeling and control of a pair of robot fingers with saddle joint under orderless actuations

Abstract

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