Skip to main content
×
Home
    • Aa
    • Aa

A motion planning strategy for multifingered hands considering sliding and rolling contacts*

  • Nak Young Chong (a1), Donghoon Choi (a1) and Il Hong Suh (a1)
Summary
Summary

An algorithm for the motion planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertip and the object at the contact point. Specifically, a nonlinear optimization problem is firstly formulated and solved to find the minimum joint velocity and the minimum contact force to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocity of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints

Copyright
References
Hide All
1.Kerr Jeffrey R.,“An Analysis of Multi-Fingered Hands” Ph.D Dissertation (Mechanical Engineering, Stanford University, 1985).
2.Li Nexiang Hsu Ping & Sastry Shanker, “Grasping and Coordinated Manipulation by a Multifingered Robot HandInt. J. Robotics Research 8, No. 4, 3350 (1989).
3.Montana David J.,“The Kinematics of Contact and GraspInt. J. Robotics Research 7, No. 3, 1732 (1988).
4.Cai Chunsheng & Roth Bernard,“On the Spatial Motion of a Rigid Body with Point Contact“ Proc. IEEE Int. Conf. on Robotics and Automation(1987) pp. 686694.
5.Cole Arlene A., Hsu Ping & Sastry Shankar, “Dynamic Regrasping by Coordinated Control of Sliding for a Multifingered Hand” Proc. IEEE Int. Conf. on Robotics and Automation(1989) pp. 781786.
6.Cole Arlene A., hauser John & Sastry Shankar, “Kinematics and Control of Multifingered Hands with Rolling Contact” Proc. IEEE Int. Conf. on Robotics and Automation(1988) pp. 228233.
7.Fearing R. S.,“Implementing a Force Strategy for Object Re-orientation” Proc. IEEE Int. Conf. on Robotics and Automation(1986) pp. 96102.
8.Brock David L., “Enhancing the Dexterity of a Robot Hand using Controlled Slip” Proc. IEEE Int. Conf. on Robotics and Automation(1988a) pp. 249251.
9.Trinkle Jeffrey C., “A Quasi-Static Analysis of Dextrous Manipulation with Sliding and Rolling Contacts” Proc. IEEE Int. Conf. on Robotics and Automation(1989) pp. 788793.
10.Peshkin M. A. & Sanderson A. C., “Minimization of Energy in Quasistatic Manipulation,” Proc. IEEE Int. Conf. on Robotics and Automation(1988) pp. 421426.
11.O'Neill Barrett, Elementary Differential Geometry (Academic Press, New York, 1966).
12.Meriam J. L. & Kraige L. G., Engineering Mechanics, Vol. I, 3rd Ed., (John Wiley & Sons, New York, 1993).
13.Vanderplaats G. N., Numerical Optimization Techniques for Engineering Design with Applications (McGraw-Hill Book company, New York, 1984).
14.Billett M. G.,Industrial Lubrication (Pergamon Press, Oxford, 1979).
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 3 *
Loading metrics...

Abstract views

Total abstract views: 68 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 20th October 2017. This data will be updated every 24 hours.