| Dynamics and Stability 3-Dimensional Object under of Blind Grasping of a Non-holonomic Constraints |
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| 作者姓名： | Suguru Arimoto Morio Yoshida Ji-Hun Bae |
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| 作者单位： | Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, 525-8577, Japan |
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| 基金项目： | This work was supported in part by the Grant-in-Aid for Exploratory Research of the JSPS （No. 16656085）. |
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| 摘 要： | A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.
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| 关 键 词： | 动态3D图 稳定性 非完整约束 精确度 |
| 收稿时间： | 2005-11-08 |
| 修稿时间： | 2006-01-09 |
Dynamics and Stability 3-Dimensional Object under of Blind Grasping of a Non-holonomic Constraints |
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| Suguru Arimoto Morio Yoshida Ji-Hun Bae.Dynamics and Stability 3-Dimensional Object under of Blind Grasping of a Non-holonomic Constraints[J].International Journal of Automation and computing,2006,3(3):263-270. |
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| Authors: | Suguru;Arimoto;Morio;Yoshida;Ji-Hun;Bae |
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| Abstract: | |
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| Keywords: | Dynamics of 3-D grasping blind-grasping non-holonomic constraints stable grasping precision prehension |
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