Grasping force control in consideration of translational and rotational slippage of an object by a flexible contact sensor
✍ Scribed by Naoki Saito; Toshiyuki Satoh; Hideharu Okano
- Publisher
- John Wiley and Sons
- Year
- 2008
- Tongue
- English
- Weight
- 827 KB
- Volume
- 165
- Category
- Article
- ISSN
- 0424-7760
No coin nor oath required. For personal study only.
✦ Synopsis
Abstract
This paper addresses the issue of translational and rotational slippage that occurs when a robot hand grasps an object. To grasp an object against each directional slippage is an important task. In this study, to deal with rotational slippage, a contact area between a flexible contact sensor which is mounted on the robot hand and the object is considered. A sufficient condition for grasping an object against translational/rotational slippage is derived on the condition that no additional sensors, such as tactile sensors, are required.
Effectiveness of the condition is confirmed by a grasping experiment with the use of a translational gripper where the flexible contact sensor is mounted. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 165(3): 51–57, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20579