Object handling by three-fingered hands using slip motion
Object handling by three-fingered hands using slip motion
复制标题
使用滑动运动通过三指手处理物体
DOI：
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发表时间：
1992
期刊：
影响因子：
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通讯作者：
A. Nagayama
中科院分区：
文献类型：
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作者：
T. Yoshikawa;Y. Yokokohji;A. Nagayama
本文讨论了具有抓取滑移运动的三指关节机器人手的准静态物体操作问题。这种操纵通过机器人手实现了更灵巧的操纵。在三维空间中求解了抓取物体时指尖力的平衡关系。假设当指尖力超过最大静摩擦力圆锥的边界时发生滑移。从分析中确定了抓地力内可能的滑动方向。唯一地确定实现期望滑动运动的指尖力。最后得到了指尖力的集合，并讨论了滑移运动的规划方法。
In this paper, a quasi-static object manipulation by an articulated three-fingered robot hand with slip motion of grasping is discussed. This kind of manipulation achieves more dexterous manipulation by robot hands. The equilibrium relations of fingertip forces for grasping an object are solved in three dimensions. It is assumed that a slip happens when the fingertip forces go beyond the bound of the cone of maximum static friction. Possible directions of slip within a grasp are determined from the analysis. The fingertip force which achieves a desired slip motion is determined uniquely. Finally the set of fingertip forces is obtained, and the planning method of slip motion is discussed.