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Nak Young Chong Donghoon Choi H Hong Suh 《Journal of Mechanical Science and Technology》1993,7(3):231-241
A generalized algorithm for the motion/force planning of the multifingered hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertips and the object at the contact point. Specifically, an optimization problem is firstly formulated and solved to find joint velocities and contact forces to impart a desired motion to the object at each time step. Then the relative velocity at the contact point is found by calculating velocity of the fingertip and the velocity of the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the present time step are computed using the Montana’s contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a circular cylinder with three fingers each of which has four joints. 相似文献
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ESTIMATIONOFOBJECTGRAVITYANDWRENCHEXERTEDONOBJECTUSINGMULTIFINGEREDHANDWITHFORCE/TORQUESENSORSGuanYishengZhangQixianRoboticsR... 相似文献
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基于虚拟构架模型分析手指包容抓取内力 总被引:1,自引:1,他引:0
在手指包容抓取物体时的内力分析中 ,基于虚拟构架模型来分析手指抓取内力 ,手指任一接触点处的内力通常能分解成该构架虚拟连接点两个 (二维平面 )或三个 (三维空间 )杆轴方向的分力 ,由虚拟构架内力 ,我们给出了二手指和三手指内力表达式。这种内力分析法为处理机器人手的抓力大小、操作规划与优化以及力控制设计等问题提供了理论基础 相似文献
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一种欠驱动多指杆机器人手 总被引:14,自引:5,他引:9
提出的欠驱动多指杆机器人手能用直指或曲指方式履行各种工业操作任务。本文描述了三指多指杆手的工作原理,手指位移与力分析,这种手抓取物体的适应性,稳定性,抓力都优于常规手爪,提出的手指结构能减少控制复杂性,重量和成本,并能实现多功能地抓取不同物体的能力。 相似文献
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Zhang Yuru 《机械工程学报(英文版)》1996,(4)
METHODOFCLASSIFYINGGRASPSBYROBOTHANDSZhangYuru(BeijingUniversityofAeronauticsandAstronauticsWilliamA.GruverSimonFraserUnivers... 相似文献
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在手指包容抓取静力分析中,给出了基于力螺旋理论来分析手指包容抓取问题,对于给定的物体,手指模型及手指与物体间的接触方式,给出手指抵抗外力的能力,这种静力分析法对于处理机器人手的抓取操作规划与优化以及力控制设计等问题提供了理论基础。 相似文献
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手指的位置控制是灵巧手进行力控制和多指协调等操作的基础。针对DLR/HIT灵巧手手指,首先建立了手指的坐标系,划分了层次化的手指控制空间。基于驱动空间的滑膜位置控制器和轨迹规划算法,设计和实现了关节空间及笛卡尔空间的手指位置控制策略。 相似文献
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In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. 相似文献
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对四指仿人灵巧手的结构及单手指运动学及动力学进行了分析,为深入地研究该灵巧手的控制提供了理论依据。在ADAMS中进行了灵巧手抓取物体仿真实验,实时得到手指与抓取物体间的接触力值。并利用有限元方法分析了灵巧手在强力抓取时的手指结构的力学性能,验证了该灵巧手可以达到实现设计目标所要求的抓取载荷。为抓取实验提供了抓取物体重量的理论分析依据。 相似文献
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机器人多指手抓取物体时,为了保证抓取稳定性,必须对手指与被抓物体之间的接触位置进行合理的布局,寻求最佳的抓取位置.基于此,提出基于最大力螺旋的多指手抓取规划方法,将多指手可以平衡的最大外力螺旋作为评价规划的性能指标,建立力封闭约束条件下抓取位置与最大外力螺旋优化模型,并运用神经网络进行仿真,将该方法与基于广义力椭球方法进行比较.前者弥补了广义力椭球方法的局限性,可以清楚地描述多指手抓取位置与可平衡外力螺旋之间的对应关系,定量地描述被抓物体的稳定性程度,使得抓取规划的判断更直观、更具有实用性. 相似文献
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This paper deals with an efficient mathematical modeling for multiple robot manipulators (or multifingered robot hands) holding
and transporting a rigid common object on the constraint surfaces, subject to a set of holonomic (integrable) constraints.
First, the kinematics and dynamics of the multiple robot systems are formulated. After a series of model transformations,
a combined dynamic model is derived from a unified viewpoint. Then the system dynamics can be decomposed into two orthogonal
subsystems the (reduced-order) motion subsystem and the force subsystem. From a practical point of view, the new dynamic model
presented in this paper is suitable form for dynamic analysis and hybrid (position/force) control synthesis. 相似文献
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对于未标定刚性环境,给出一种基于位置的视觉/力混合控制策略,实现对机械手的运动控制。在视觉引导下,机械手的末端寻找并稳定接触目标物体;当接触完全建立后,采用视觉和力同时控制机械手的运动。在任务空间内,基于边缘的刚体跟踪器把动态过程中的线性动态误差提供给局部稳定的观测器。实验和仿真结果证明了该方法的有效性。 相似文献
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Eun-Hye Kim Seok-Won Lee Yong-Kwun Lee 《International Journal of Precision Engineering and Manufacturing》2011,12(2):227-235
This paper describes a development of bio-mimetic robot hand and its control scheme. This robot hand has four independently
moving fingers, which are driven by four-coupled link mechanism with two linear actuators. By using the linear actuators,
we make the hand similar to human hand in its structure and motion. The coupled link mechanism makes the hand compact in structure
and efficient in power. The robot hand is designed considering the dexterity and the compact size suited for various tools
and objects in daily life. The hand has tactile sensors mounted on the palm and the fingertips at each finger. With tactile
sensor based feedback control and force closure method, the paper shows the control of the robot hand which is very stable
in grasping and handling various objects. 相似文献
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Zhang Wen-zeng Chen Qiang Sun Zhen-guo Xu Lei 《Frontiers of Mechanical Engineering in China》2006,1(1):33-39
A novel underactuated finger mechanism was designed. Finger mechanism was incorporated into a humanoid robot hand to obtain
more degrees of freedom with less actuators and good grasping functions with shape adaptation, therefore decreasing the requirements
for the control system. A novel superunderactuated multifingered hand (TH-2 Hand) for a humanoid robot was designed based
on a previous underactuated finger mechanism. The TH-2 Hand was attached to a humanoid robot because of its high personification,
superunderactuation, compactness, easy real-time control, small volume, light weight, and strong grasping function.
This work was translated from the Journal of
Tsinghua University
(Science
and Technology), 2004, 44(5) (in Chinese)
This research is funded by the National Natural Science Foundation of China (grant 50275083) and the Education Prosperity
Plan of the National Ministry of Education 相似文献
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针对机器人多指手自身的特点,通过分析人手的抓取特性,对其可能具有的抓取模式进行分类。考虑被抓取物体的几何特征和任务要求,采用基函数为高斯核函数的RBF神经网络来表示被抓物体的样本特征和抓取模式之间的复杂非线性映射。将抓取模式分为10类,对于新的被抓物体,利用训练好的神经网络自动生成抓取模式,并利用VC++/OpenGL建立了可视化仿真平台,进行了抓取模式分类仿真实验,结果表明对于新的物体,机器人可以选择适当的抓取模式进行抓取。 相似文献