冗余多指机械手稳定抓取的研究

Proceedings of the 41st SICE Annual Conference. SICE 2002. Pub Date : 2002-08-05 DOI:10.1109/SICE.2002.1195218

K. Kumazaki, M. Svinin, Z. Luo, T. Odashima, S. Hosoe

{"title":"冗余多指机械手稳定抓取的研究","authors":"K. Kumazaki, M. Svinin, Z. Luo, T. Odashima, S. Hosoe","doi":"10.1109/SICE.2002.1195218","DOIUrl":null,"url":null,"abstract":"This paper deals with the stability of multi-fingered robot hand grasping. First, the problem is addressed at the force planning level. Next, the end point stiffness is distributed between redundant finger joints. The resulting control law is tested by an experiment with 3-fingered robot hand.","PeriodicalId":301855,"journal":{"name":"Proceedings of the 41st SICE Annual Conference. SICE 2002.","volume":"365 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A study on the stable grasping by a redundant multi-fingered robot hand\",\"authors\":\"K. Kumazaki, M. Svinin, Z. Luo, T. Odashima, S. Hosoe\",\"doi\":\"10.1109/SICE.2002.1195218\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper deals with the stability of multi-fingered robot hand grasping. First, the problem is addressed at the force planning level. Next, the end point stiffness is distributed between redundant finger joints. The resulting control law is tested by an experiment with 3-fingered robot hand.\",\"PeriodicalId\":301855,\"journal\":{\"name\":\"Proceedings of the 41st SICE Annual Conference. SICE 2002.\",\"volume\":\"365 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2002-08-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 41st SICE Annual Conference. SICE 2002.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SICE.2002.1195218\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 41st SICE Annual Conference. SICE 2002.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SICE.2002.1195218","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

研究了多指机械手抓取的稳定性问题。首先，在部队规划一级处理这个问题。其次，在冗余手指关节之间分配端点刚度。通过三指机械手的实验验证了所得到的控制律。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A study on the stable grasping by a redundant multi-fingered robot hand

This paper deals with the stability of multi-fingered robot hand grasping. First, the problem is addressed at the force planning level. Next, the end point stiffness is distributed between redundant finger joints. The resulting control law is tested by an experiment with 3-fingered robot hand.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 41st SICE Annual Conference. SICE 2002.

自引率

0.00%

发文量