TY - GEN
T1 - A stable grasping and manipulating control method based on grasp plane
AU - Hyodo, Shoyo
AU - Kubo, Ryogo
AU - Ohnishi, Kouhei
PY - 2006
Y1 - 2006
N2 - In this paper, a method for dividing grasping and manipulating control into grasp plane control and inside grasp plane control is proposed. Grasp plane control is realized by controlling center of gravity (COG) of three end-effectors and posture of the grasp plane. Inside grasp plane control is realized by controlling grasping shape and contact force which exists on the grasp plane. To avoid any danger entailed by dropping of a grasped object, a method for compensating contact force to a grasped object by external force is also proposed. This external force is estimated from normal force, and this force is not affected by frictional force. Thus, stable grasping and manipulating control taking external force parallel to the grasp plane into account is realized. The validity of the proposed systems is confirmed by the experimental results.
AB - In this paper, a method for dividing grasping and manipulating control into grasp plane control and inside grasp plane control is proposed. Grasp plane control is realized by controlling center of gravity (COG) of three end-effectors and posture of the grasp plane. Inside grasp plane control is realized by controlling grasping shape and contact force which exists on the grasp plane. To avoid any danger entailed by dropping of a grasped object, a method for compensating contact force to a grasped object by external force is also proposed. This external force is estimated from normal force, and this force is not affected by frictional force. Thus, stable grasping and manipulating control taking external force parallel to the grasp plane into account is realized. The validity of the proposed systems is confirmed by the experimental results.
UR - http://www.scopus.com/inward/record.url?scp=50249105935&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249105935&partnerID=8YFLogxK
U2 - 10.1109/IECON.2006.348086
DO - 10.1109/IECON.2006.348086
M3 - Conference contribution
AN - SCOPUS:50249105935
SN - 1424401364
SN - 9781424401369
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4030
EP - 4035
BT - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
T2 - IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Y2 - 6 November 2006 through 10 November 2006
ER -