A stable grasping and manipulating control method based on grasp plane

Shoyo Hyodo, Ryogo Kubo, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ4030-4035
ページ数6
DOI
出版ステータスPublished - 2006
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11月 62006 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
国/地域France
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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