Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers

J. H. Bae, Kenji Tahara, S. Nakamura, S. Arimoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

5 被引用数 (Scopus)

抄録

This paper is concerned with computer simulation of concurrent grasp and orientation control of an object with two parallel flat surfaces by a pair of multi-degrees of freedom robot fingers that have rigid hemispherical ends. Firstly, geometrical relationships in the overall fingers-object system are discussed through four algebraic constraints between the finger tips and surfaces of the object. Then, differential algebraic equations expressing dynamics of the overall system are derived. Secondly, a sensory feedback signal for concurrent grasp and orientation control of the object is proposed and a full description of matrix form for numerically solving the closed-loop differential algebraic equation of the overall fingers-object system on the basis of the CSM (constraint stabilization method) is presented. Thirdly, simulation results of grasping and orientation control of the object are shown and then, the effects of each term of the proposed control input signal on the system performances are discussed. Finally, a guidance of gain tuning is suggested on the basis of well-known force-velocity characteristics of human muscle in muscle physiology.

本文言語英語
ホスト出版物のタイトルProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
ホスト出版物のサブタイトルComputational Intelligence in Robotics and Automation for the New Millennium
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1219-1226
ページ数8
3
ISBN(電子版)0780378660
DOI
出版ステータス出版済み - 1 1 2003
外部発表はい
イベント2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, 日本
継続期間: 7 16 20037 20 2003

その他

その他2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
国/地域日本
CityKobe
Period7/16/037/20/03

All Science Journal Classification (ASJC) codes

  • 計算数学

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