This paper appears in: Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Publication Date: 12-14 May 1992
On page(s): 566-572 vol.1
Meeting Date: 05/12/1992 - 05/14/1992
Location: Nice, France
ISBN: 0-8186-2720-4
References Cited: 13
INSPEC Accession Number: 4362938
Digital Object Identifier: 10.1109/ROBOT.1992.220232
Current Version Published: 2002-08-06
Abstract
The authors present a technique to analyze the forces and dynamics
of a class of mechanical systems, called fingerlike systems, which may
be viewed as an extension of simple robots to include networks for
force/displacement generation and transmission. Fingerlike mechanical
system can be described using a graph-theoretic approach to force and
displacement generation and transmission. Branches consist of actuators,
cables, springs, and other building blocks. Upon specification of the
connectivity graph and branch behaviors, a symbolic mathematics program
can generate the affine maps from actuator control variables to
mechanical system torques and forces. This process systematizes and
simplifies the determination of biological and robotic mechanical
dynamics
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
