NDLI: Optimal preshaping using vorticity based manipulability and stability criteria

Content Provider	IEEE Xplore Digital Library
Author	Canbolat, H. Erkmen, A.M.
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA (Canbolat, H.)
Abstract	The authors' work focuses on developing methods of determining the optimal preshape of a robot hand for a particular stability and manipulability degree based on kinematic considerations. To this end, for a given task, the authors define stability and manipulability criteria for a robot hand based vortex theory. The effects of these criteria and manipulation to the hand preshape are examined by generating optimal fingertip landing paths on an object. This object is a perceived 2D contour in the robot workspace and the optimal landing trajectories are determined according to required manipulability and stability at the preshaping phase to be imparted to the object at contact. An illustrative example of optimal preshaping is provided at the end of the paper and the effects of the vortex based stability and manipulability are discussed in the results.
Starting Page	1943
Ending Page	1949
File Size	511275
Page Count	7
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351177
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability criteria Robot kinematics Fingers Phase measurement End effectors Mechanical factors Jacobian matrices Manipulators Contacts Deformable models
Content Type	Text
Resource Type	Article

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