TY - JOUR
T1 - Modeling and control of a pair of robot fingers with saddle joint under orderless actuations
AU - Yoshida, Morio
AU - Arimoto, Suguru
AU - Tahara, Kenji
N1 - Funding Information:
This work was partially supported by Japan Society for the Promotion of Science (JSPS), Grant-in-Aid for Scientific Research (B) (20360117).
Publisher Copyright:
© 2009 IEEE.
PY - 2009
Y1 - 2009
N2 - A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input.
AB - A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input.
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U2 - 10.1109/ROBOT.2009.5152733
DO - 10.1109/ROBOT.2009.5152733
M3 - Conference article
AN - SCOPUS:76249092715
SN - 1050-4729
SP - 2499
EP - 2505
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
M1 - 5152733
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -