Safe Grasping with Multi-link Fingers Based on Force Sensing
Grasping and handling delicate objects with robotic systems could be done by force closure method which needs a sophisticated control capable of providing stable grasping of the object with minimum possible normal force. It is a common practice among researchers to simplify dynamic of system by assumpssions such as permanent contact or incipient slip condition between object and gripper. Although such assumptions might be good in general grasping problem, where applying large contact forces is permissible, they are not valid in the case of safe grasping in which the contact forces should be minimal. This paper presents a new controller inspired by human method of grasping. The proposed controller, which only needs measurement of the contact forces, is then employed in conjunction with jacobian transpose method for grasping by multi-link fingers. Versatility of proposed algorithm is shown by means of several numerical examples as well as analytical developments.
safe grasping multi-phase friction coulomb friction friction coefficient estimation
MOHAMAD JAFAR SADIGH HABIB AHMADI
Department of Mechanical Engineering,Isfahan University of Technology,Isfahan,Iran
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
1796-1802
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）