SAFE GRASPING AND MANIPULATION OF DELICATE OBJECT BY A TWO FINGERS DEXTEROUS HAND

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AHMADI HABIB; SADIGH JAFAR

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Paper Information

Journal: Journal of Control Year:2010 | Volume:4 | Issue:2 Page(s): 20-35

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Information Journal Paper

Title

SAFE GRASPING AND MANIPULATION OF DELICATE OBJECT BY A TWO FINGERS DEXTEROUS HAND

Author(s)

AHMADI HABIB | SADIGH JAFAR | Issue Writer Certificate

Keywords

SAFE GRASPINGQ3

MULTI-PHASE FRICTIONQ3

DEXTEROUS HANDQ3

FINE MANIPULATION AND CONTROLLERQ3

Abstract

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 positionforce algorithm and employ that to accomplish pinching and moving delicate object with two multilink 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.

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References

جابجایی اجسام ظریف دو بعدی بوسیله یک ربات سری روی سطح به کمک اصطکاک (کنفرانس)

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APA: Copy

AHMADI, HABIB, & SADIGH, JAFAR. (2010). SAFE GRASPING AND MANIPULATION OF DELICATE OBJECT BY A TWO FINGERS DEXTEROUS HAND. JOURNAL OF CONTROL, 4(2), 20-35. SID. https://sid.ir/paper/120894/en

Vancouver: Copy

AHMADI HABIB, SADIGH JAFAR. SAFE GRASPING AND MANIPULATION OF DELICATE OBJECT BY A TWO FINGERS DEXTEROUS HAND. JOURNAL OF CONTROL[Internet]. 2010;4(2):20-35. Available from: https://sid.ir/paper/120894/en

IEEE: Copy

HABIB AHMADI, and JAFAR SADIGH, “SAFE GRASPING AND MANIPULATION OF DELICATE OBJECT BY A TWO FINGERS DEXTEROUS HAND,” JOURNAL OF CONTROL, vol. 4, no. 2, pp. 20–35, 2010, [Online]. Available: https://sid.ir/paper/120894/en

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