Planning for Dexterous Manipulation with Sliding Contacts
Planning for Dexterous Manipulation with Sliding Contacts
复制标题
规划滑动接触的灵巧操作
DOI：
--
复制
发表时间：
1990
期刊：
影响因子：
--
通讯作者：
R. Paul
中科院分区：
文献类型：
--
作者：
J. Trinkle;R. Paul
灵巧操作指的是物体重新定向和重新定位机动的熟练执行，特别是当在关节机械手的抓握内执行时。在本文中，我们研究的问题，获得一个安全的和包络把握的二维物体，利用滑动之间的接触对象和手。这分两步完成：第一步，选择一个初始抓取，利用这个抓取可以操纵物体离开支撑物，第二步，连续改变抓取，从而实现抓取。由我们的技术生成的计划可以仅通过位置控制来执行。然而，谨慎的做法是结合接触力传感，以防止意外事件期间的损坏。本文的主要贡献是推导出用于操作规划的平面物体的可提升区域;在操作规划中使用提升相平面;以及推导出准静态向前物体运动问题，这为具有滚动和/或滑动接触的一般三维操作规划提供了基础。
Dexterous manipulation refers to the skillful execution of object reorienting and repositioning maneuvers, especially when performed within the grasp of an articulated mechani cal hand. In this paper we study the problem of gaining a secure and enveloping grasp of a two-dimensional object by exploiting sliding at the contacts between the object and the hand. This is done in two steps:first, choosing an initial grasp with which the object can be manipulated away from the support, and second, continuously altering the grasp so that envelopment is achieved. The plans generated by our technique could be executed with only position control. How ever, it would be prudent to incorporate contact force sensing to prevent damage during unexpected events. The main contributions of this paper are the derivation of liftability regions of a planar object for use in manipulation planning; the use of the lifting phase plane in manipulation planning; and the derivation of the quasi-static forward object motion problem, which provides a basis for general three- dimensional manipulation planning with rolling and/or sliding contacts.