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

Morio Yoshida, Suguru Arimoto, Kenji Tahara

Research output: Contribution to journalConference articlepeer-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 languageEnglish
Article number5152733
Pages (from-to)2499-2505
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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