Abstract
This paper analyzes the dynamics and control of pinch motions generated by a pair of two multi-degrees-of-freedom robot fingers with soft and deformable tips pinching a rigid object. It is shown firstly that passivity analysis leads to an effective design of a feedback control signal that realizes dynamic stable pinching (grasping), even if extra terms of Lagrange's multipliers arise from holonomic constraints of tight area-contacts between soft finger-tips and surfaces of the rigid object and exert torques and forces on the dynamics. It is shown secondly that a principle of superposition is applicable to the design of additional feedback signals for controlling both the posture (rotational angle) and position (some of task coordinates of the mass center) of the object provided that the number of degrees of freedom of each finger is specified for satisfying a condition of stationary resolution of controlled position state variables. The details of feedback signals are presented in the case of a special setup consisting of two robot fingers with two degrees of freedom.
| Original language | English |
|---|---|
| Pages (from-to) | 21-28 |
| Number of pages | 8 |
| Journal | Robotica |
| Volume | 19 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jan 1 2001 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Mathematics(all)
- Computer Science Applications
Cite this
Principles of superposition for controlling pinch motions by means of robot fingers with soft tips. / Arimoto, S.; Tahara, Kenji; Yamaguchi, M.; Nguyen, P. T.A.; Han, H. Y.
In: Robotica, Vol. 19, No. 1, 01.01.2001, p. 21-28.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Principles of superposition for controlling pinch motions by means of robot fingers with soft tips
AU - Arimoto, S.
AU - Tahara, Kenji
AU - Yamaguchi, M.
AU - Nguyen, P. T.A.
AU - Han, H. Y.
PY - 2001/1/1
Y1 - 2001/1/1
N2 - This paper analyzes the dynamics and control of pinch motions generated by a pair of two multi-degrees-of-freedom robot fingers with soft and deformable tips pinching a rigid object. It is shown firstly that passivity analysis leads to an effective design of a feedback control signal that realizes dynamic stable pinching (grasping), even if extra terms of Lagrange's multipliers arise from holonomic constraints of tight area-contacts between soft finger-tips and surfaces of the rigid object and exert torques and forces on the dynamics. It is shown secondly that a principle of superposition is applicable to the design of additional feedback signals for controlling both the posture (rotational angle) and position (some of task coordinates of the mass center) of the object provided that the number of degrees of freedom of each finger is specified for satisfying a condition of stationary resolution of controlled position state variables. The details of feedback signals are presented in the case of a special setup consisting of two robot fingers with two degrees of freedom.
AB - This paper analyzes the dynamics and control of pinch motions generated by a pair of two multi-degrees-of-freedom robot fingers with soft and deformable tips pinching a rigid object. It is shown firstly that passivity analysis leads to an effective design of a feedback control signal that realizes dynamic stable pinching (grasping), even if extra terms of Lagrange's multipliers arise from holonomic constraints of tight area-contacts between soft finger-tips and surfaces of the rigid object and exert torques and forces on the dynamics. It is shown secondly that a principle of superposition is applicable to the design of additional feedback signals for controlling both the posture (rotational angle) and position (some of task coordinates of the mass center) of the object provided that the number of degrees of freedom of each finger is specified for satisfying a condition of stationary resolution of controlled position state variables. The details of feedback signals are presented in the case of a special setup consisting of two robot fingers with two degrees of freedom.
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UR - http://www.scopus.com/inward/citedby.url?scp=0034997714&partnerID=8YFLogxK
U2 - 10.1017/S0263574700002939
DO - 10.1017/S0263574700002939
M3 - Article
AN - SCOPUS:0034997714
VL - 19
SP - 21
EP - 28
JO - Robotica
JF - Robotica
SN - 0263-5747
IS - 1
ER -