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This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
This paper considers moments due to friction forces on the human fingertip. A computational technique called the friction moment arc method is presented. The method computes the static and/or dynamic friction moment independent of a friction force calculation. In addition, a new finger holder to display friction moment is presented. This device incorporates a small brushless motor and disk, and connects...
Motion control algorithms were proposed for a 9-DOF finger-arm robot by using the finger manipulability obtained in a previous study. However, in the previous study, only methods for achieving unconstrained movement of the finger-arm robot were discussed. In this paper, the authors propose a novel method for having a finger-arm robot complete a constrained task by integrating impedance control with...
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