Comparison of Theoretical and Experimental Force/ Motion Trajectories for Dextrous Manipulation With Sliding
Comparison of Theoretical and Experimental Force/ Motion Trajectories for Dextrous Manipulation With Sliding
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滑动灵巧操作的理论与实验力/运动轨迹比较
DOI：
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发表时间：
1993
期刊：
影响因子：
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通讯作者：
M. Cutkosky
中科院分区：
文献类型：
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作者：
I. Kao;M. Cutkosky
在这篇文章中，我们比较了理论和实验轨迹获得的滑动物体的手指的手。实验是在一个具有柔软手指的两指平面机械手上进行的. Forceltorque传感器监测指尖的接触力，视觉系统跟踪物体的运动。使用准静态滑动分析并假设接触处存在库仑摩擦，获得了预测的轨迹。预测结果与实验结果吻合较好，表明在接触力和摩擦系数的平均值准确已知的情况下，准静态滑动分析可用于软滑动指尖的运动规划。
In this article we compare theoretical and experimental tra jectories obtained for sliding an object with the fingers of a dextrous hand. The experiments were conducted using a two- fingered planar manipulator with soft fingers. Forceltorque sensors monitored the contact forces at the fingertips, and a vision system tracked the motion of the object. The predicted trajectories were obtained using a quasistatic sliding analysis and assuming Coulomb friction at the contacts. Close agree ment between the predicted and experimental results indicates that quasistatic sliding analyses can be used for motion plan ning with soft sliding fingertips, provided that the average values of the contact forces and coefficient of friction are accu rately known.