Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand.

• MIMURA Nobuharu

• FUNAHASHI Yasuyuki

Bibliographic Information

Other Title

• 二次元平面内における２本指ロボットハンドの把握パラメータ同定
• 2ジゲン ヘイメンナイ ニ オケル 2ホン シロボット ハンド ノ ハアク パ

Abstract

Unknown force and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system ban be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 58 (554), 3043-3049, 1992

  The Japan Society of Mechanical Engineers

Keywords

• Robot Hand
• Two-Fingered Hand
• Planar Grasp
• Contact Point
• Parameter Identification
• Unknown Object

Details

• CRID: 1390001206296956928
• NII Article ID: 130004229821
• NII Article ID: 110002380532
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.58.3043
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 3790589
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3790589
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/58/554/58_554_3043/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed