Interpretation of contact geometries from force measurements
Interpretation of contact geometries from force measurements
复制标题
通过力测量解释接触几何形状
DOI：
10.1109/robot.1984.1087180
复制
发表时间：
1984
影响因子：
3.9
通讯作者：
J. Salisbury
中科院分区：
文献类型：
--
作者：
J. Salisbury
随着操纵实践通过使用更复杂的末端执行器而走向更大的灵活性，有必要感测操纵器和抓取对象之间的相互作用的更多细节。精确的抓取运动学建模是高质量控制被抓取物体的力和运动状态的必要条件。要做到这一点，必须确定手指和物体之间发生接触的位置，方向和类型。我们提出了一种方法来确定某些基本类型的接触的几何特征。通过点，线和表面接触传递的力和力矩的特性被认为是用于确定传感元件的数量和位置。给出了几种传感器设计，其使用最少数量的应变计测量来定位点接触和线接触的位置和方向。
As manipulation practice moves toward greater dexterity through the use of more complex end effectors it becomes necessary to sense more details of the interactions between the manipulator and grasped object. Accurate modeling of grasp kinematics is necessary for high quality control of the force and motion states of the grasped object. To do this one must ascertain the location, orientation and type of contact that occurs between fingers and objects. We present an approach for determining geometric features of certain basic types of contact. The characteristics of forces and moments transmitted through point, line and surface contacts are considered and used to determine the number and placement of sensing elements. Several sensor designs are given that use a minimal number of strain gauge measurements to locate the position and orientation of point and line contacts.