Cart (Loading....) | Create Account
Close category search window
 

A finite motion planning strategy for multifingered robotic hands considering sliding and rolling contacts

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Nak Young Chong ; Hangyang Univ., Seoul, South Korea ; Donghoon Choi ; Il Hong Suh

An algorithm for motion planning of the robotic hand to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertips and the object at the contact point is proposed. An optimization problem is formulated and solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. The relative velocity at the contact point is found by calculating the velocities of the fingertip and the object at the contact point. Time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step are computed using Montana's contact equation (1988) to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand to manipulate a sphere with three fingers, each of which has four joints

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.