Dynamic manipulation/grasping control of multifingered robot hands
Dynamic manipulation/grasping control of multifingered robot hands
复制标题
DOI：
10.1109/robot.1993.291807
复制
发表时间：
1993-05
期刊：
影响因子：
--
通讯作者：
K. Nagai;T. Yoshikawa
中科院分区：
文献类型：
--
作者：
K. Nagai;T. Yoshikawa
提出并讨论了一种基于动态控制和位置/力混合控制的多指机械手动态操纵/抓取控制器。该控制器采用作者提出的操纵力和抓取力的概念，由一个使整个抓取系统线性化的补偿器和一个用于线性化系统的伺服控制器组成。控制器采用与内力本质尺寸元素数量相同的抓取参数作为抓取控制的受控变量。它将施加抓取物体所需的总力分解为操纵力，这是指尖力的一部分。手指之间的运动学约束以及手指和物体的运动方程作为基本方程给出。提出了动态操纵/抓取控制器。给出仿真结果>
A dynamic manipulation/grasping controller of multifingered robot hands based on dynamic control and hybrid position/force control is proposed and discussed. This controller, using the concept of the manipulating and grasping forces proposed by the authors, consists of a compensator which linearizes the whole grasping system and a servo controller for the linearized system. The controller uses the grasp parameter, which has the same number of elements as that of the essential dimension of the internal force, as the controlled variable for grasping control. It decomposes the total force required to apply the grasped object into the manipulating force, which is a part of the fingertip force. The kinematical constraint among the fingers, and the motion equations of the fingers and the object, are presented as the basic equations. The dynamic manipulation/grasping controller is proposed. Simulation results are given.>