NDLI: Determination of contact forces in grasping

Content Provider	IEEE Xplore Digital Library
Author	Zhang, Y. Gao, F. Gruver, W.A.
Copyright Year	1996
Description	Author affiliation: Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada (Zhang, Y.)
Abstract	The determination of contact forces between a grasped object and fingers of a robot hand is treated in this research. In previous research on fingertip grasps, the underlying assumption is generally that the fingers can apply any required force. In cases of enveloping or power grasps, the latter assumption does not always hold because same components of the contact forces may not be controllable. These uncontrollable forces need to be separated in the representation of contact forces to ensure that the contact forces are obtained by adjusting the controllable components of the contact forces. This paper provides a method to solve this problem. We decompose the space of contact forces into four subspaces. Based on this decomposition, the contact forces can be explicitly represented with respect to the joint torques. Therefore, the application of the technique leads to a controllable solution. Three examples are provided to illustrate the decomposition.
Starting Page	1038
Ending Page	1044
File Size	511369
Page Count	7
File Format	PDF
ISBN	078033213X
DOI	10.1109/IROS.1996.568948
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-11-08
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Intelligent robots Grasping Force control Torque control Manufacturing systems Laboratories Grippers Equations Vectors
Content Type	Text
Resource Type	Article

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