Computing and controlling compliance of a robotic hand
Cutkosky, M.R.
Kao, I.
Dept. of Mech. Eng., Stanford Univ., CA;
This paper appears in: Robotics and Automation, IEEE Transactions on
Publication Date: Apr 1989
Volume: 5,
Issue: 2
On page(s): 151-165
ISSN: 1042-296X
References Cited: 15
INSPEC Accession Number: 3386705
Digital Object Identifier: 10.1109/70.88036
Current Version Published: 2002-08-06
Abstract
The authors express the compliance of the grasp of a robotic hand
as a function of grasp geometry, contact conditions between the fingers
and the grasped object, and mechanical properties of the fingers. It is
argued that the effects of structural compliance and small changes in
the grasp geometry should be included in the computation. Factors are
then examined that can lead a grasp to become unstable, independently of
whether it satisfies force closure. Finally, the authors examine the
reverse problem of how to specify servo gains at the joints of a robotic
hand so as to achieve, as nearly as possible, a desired overall grasp
compliance. It is shown that coupling between the joints of different
fingers is useful in this context
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
