COMPUTING AND CONTROLLING THE COMPLIANCE OF A ROBOTIC HAND
COMPUTING AND CONTROLLING THE COMPLIANCE OF A ROBOTIC HAND
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DOI：
10.1109/70.88036
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发表时间：
1989-04-01
期刊：
影响因子：
--
通讯作者：
KAO, I
中科院分区：
文献类型：
--
作者：
CUTKOSKY, MR;KAO, I
作者将机器人手的抓握顺应性表达为抓握几何形状、手指与抓握物体之间的接触条件以及手指的机械特性的函数。有人认为，结构顺应性和抓取几何形状的微小变化的影响应包括在计算中。然后检查可能导致抓握变得不稳定的因素，无论其是否满足力闭合。最后，作者研究了如何指定机器人手关节处的伺服增益的逆问题，以便尽可能实现所需的整体抓取顺应性。结果表明，不同手指关节之间的耦合在这种情况下很有用。<>
The authors express the compliance of the grasp of a robotic hand as a function of grasp geometry, contact conditions between the fingers and the grasped object, and mechanical properties of the fingers. It is argued that the effects of structural compliance and small changes in the grasp geometry should be included in the computation. Factors are then examined that can lead a grasp to become unstable, independently of whether it satisfies force closure. Finally, the authors examine the reverse problem of how to specify servo gains at the joints of a robotic hand so as to achieve, as nearly as possible, a desired overall grasp compliance. It is shown that coupling between the joints of different fingers is useful in this context.<>