Grasping Force Control in Consideration of Translational and Rotational Slippage of an Object by a Flexible Contact Sensor
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- Saito Naoki
- Akita Prefectural University Faculty of Systems Science and Technology Department of Machine Intelligence and Systems Engineering
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- Satoh Toshiyuki
- Akita Prefectural University Faculty of Systems Science and Technology Department of Machine Intelligence and Systems Engineering
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- Okano Hideharu
- Akita Prefectural University Faculty of Systems Science and Technology Department of Machine Intelligence and Systems Engineering
Bibliographic Information
- Other Title
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- 柔軟接触センサによる並進/回転方向滑りを考慮した把持力の調整
- ジュウナン セッショク センサ ニ ヨル ヘイシン カイテン ホウコウ スベリ オ コウリョ シタ ハジリョク ノ チョウセイ
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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 condition that no additional sensors, such as tactile sensors, are required.<br>An effectiveness of the condition is confirmed by a grasping experiment with the use of a translational gripper where the flexible contact sensor is mounted.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 126 (8), 990-996, 2006
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204603882240
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- NII Article ID
- 10018181895
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 8054406
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed