３本指ハンドによる対象物の操りにおける滑り運動の解析

• 吉川 恒夫

  京都大学工学部

• 横小路 泰義

  京都大学工学部

• 永山 敦朗

  京都大学工学部

書誌事項

タイトル別名

• Object Handling by Three-Fingered Hands Using Slip Motion.

抄録

In this paper, a quasi-static object manipulation by an articulated three-fingered robot hand with slip motion of grasping is discussed. This kind of manipulation achieves more dexterous manipulation by robot hands. The equilibrium relations of fingertip forces for grasping an object are solved in three dimensions. It is assumed that a slip happens when the fingertip forces go beyond the bound of the cone of maximum static friction. Possible directions of slip within a grasp are determined from the analysis. The fingertip force which achieves a desired slip motion is determined uniquely. Finally the set of fingertip forces is obtained, and the planning method of slip motion is dicussed.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 10 (3), 394-401, 1992

  一般社団法人 日本ロボット学会

キーワード

• Robot Hand
• Articulated Multi-fingered Hand
• Grasp
• Handling
• Slip Motion

詳細情報

• CRID: 1390282679703440256
• NII論文ID: 10006715045
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.10.394
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可