GRASPING AND CONTROL OF MOVING OBJECT BY DUAL FINGERS ROBOT UNDER ROLLING CONSTRAINTS IN HORIZONTAL PLANE

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AHMADI SALMAN; RASTEGARI RAMBOD

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Paper Information

Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:11 Page(s): 154-164

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Information Journal Paper

Title

GRASPING AND CONTROL OF MOVING OBJECT BY DUAL FINGERS ROBOT UNDER ROLLING CONSTRAINTS IN HORIZONTAL PLANE

Author(s)

AHMADI SALMAN | RASTEGARI RAMBOD | Issue Writer Certificate

Keywords

DUAL FINGERS GRASPQ1

STABILITYQ2

OBJECT MANIPULATIONQ1

FINGER TIPSQ1

MULTIPLE IMPEDANCE CONTROLQ2

Abstract

Object grasping by robot fingers with purely rolling constraints is one of the most interesting issues under consideration by many researchers. In earlier studies, the main goal was the manipulation of object under purely rolling constraints to reach the final stable configuration. In this paper, in addition to deriving kinematic and dynamic equations of the system dual fingers robot and grasping semicircular object on the horizontal plane with rigid hemi spherical fingertips under pure rolling constrained, we investigate OBJECT MANIPULATION on desired path maintaining dynamics STABILITY. Modified MULTIPLE IMPEDANCE CONTROL is used for OBJECT MANIPULATION and robot fingers by considering the required reforms in this control law. In this method MULTIPLE IMPEDANCE CONTROL is performed by applying the desired behavior of the entire system, including fingers and object, and dynamics STABILITY condition is satisfied.In this way power adjustment and that these forces arrive in the right place largely effective in minimizing slip is the fingers on the surface object. The results of simulations show the eligible OBJECT MANIPULATION and dynamics STABILITY by robot fingers under pure rolling grasp.

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APA: Copy

AHMADI, SALMAN, & RASTEGARI, RAMBOD. (2017). GRASPING AND CONTROL OF MOVING OBJECT BY DUAL FINGERS ROBOT UNDER ROLLING CONSTRAINTS IN HORIZONTAL PLANE. MODARES MECHANICAL ENGINEERING, 16(11 ), 154-164. SID. https://sid.ir/paper/178931/en

Vancouver: Copy

AHMADI SALMAN, RASTEGARI RAMBOD. GRASPING AND CONTROL OF MOVING OBJECT BY DUAL FINGERS ROBOT UNDER ROLLING CONSTRAINTS IN HORIZONTAL PLANE. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(11 ):154-164. Available from: https://sid.ir/paper/178931/en

IEEE: Copy

SALMAN AHMADI, and RAMBOD RASTEGARI, “GRASPING AND CONTROL OF MOVING OBJECT BY DUAL FINGERS ROBOT UNDER ROLLING CONSTRAINTS IN HORIZONTAL PLANE,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 11 , pp. 154–164, 2017, [Online]. Available: https://sid.ir/paper/178931/en

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