Safely Grasping with Complex Dexterous Hands by Tactile Feedback

Sánchez, José Ignacio Sánchez; Schneider, Sven; Plöger, Paul G.

doi:10.1007/978-3-319-18615-3_27

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…The PR2 gripper [57,58] is a geared mechanism; therefore, it lends itself well to position control. Its position T in meters and its velocity vg in meters per second was defined.…”

Section: Position and Force Controlmentioning

confidence: 99%

Mathematical Studying in Control of Grasping

Mirzaieepoor¹

2016

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The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter's reliance on contact friction.

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“…The PR2 gripper [57,58] is a geared mechanism; therefore, it lends itself well to position control. Its position T in meters and its velocity vg in meters per second was defined.…”

Section: Position and Force Controlmentioning

confidence: 99%