Volume 4, Issue 2 (Journal of Control, V.4, N.2 Summer 2010)
JoC 2010, 4(2): 20-35 |
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Ahmadi H, Sedigh J. Safe Grasping and Manipulation of Delicate Object by a Two Fingers Dexterous Hand. JoC 2010; 4 (2) :20-35
URL: http://joc.kntu.ac.ir/article-1-134-en.html
URL: http://joc.kntu.ac.ir/article-1-134-en.html
Abstract: (17623 Views)
Safe grasping and handling delicate object with fingertips need a sophisticated control algorithm capable of position and force control in one direction. Most of position-force control algorithms proposed so far divide the work space of manipulators into two subspace and control position in one subspace and force in the other one. Meanwhile, for safe grasping purpose we should apply force at minimum necessary level which itself is not a known quantity during motion, so the desired value of normal force is not known forehand. This paper propose a new position-force algorithm and employ that to accomplish pinching and moving delicate object with two multi-link fingers. Performance issues and parameters robustness with respect to friction coefficient is also addressed. Several numerical examples are provided to show versatility of the proposed method.
Type of Article: Research paper |
Subject:
Special
Received: 2014/08/8 | Accepted: 2014/08/8 | Published: 2014/08/8
Received: 2014/08/8 | Accepted: 2014/08/8 | Published: 2014/08/8
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