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This paper proposes a novel method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. The proposed method is based on a simple sensory-feedback control using the information of an object attitude, and any mathematically complicated computation, such as calculation of inverse dynamics and kinematics, are not required. In addition, the stability of the overall...
The stiffness control of an object grasped by a multi-fingered robot hand requires the modeling of the elastic behavior of the object, caused by the stiffness of the fingers. Because of the presence of rolling contacts between the fingers and the object, such a modeling is not a trivial issue, and a very different one from the case of simpler parallel manipulators. We provide here a first expression...
Some properties of first-order equations of motion, described originally by Jain and Rodriguez, with a viscous damping model are presented in this paper. The equations arise from a manipulator mass decomposition and are applicable for serial manipulators. In contrast with classical viscous damping model the modified viscous damping model takes into account both kinematic and mechanical parameters...
We have suggested a novel statics and force control can be achieved in a more simple way by using the biarticular muscle coordinate. In order to verify these characteristics, a robot arm with two links that are driven by planetary gear is developed in this paper. First, the complicated muscle structure is simplified as a three-pair six-muscle model including the biarticular muscle. Then based on the...
Applied the artificial muscle based on oil hydraulic to design flexible manipulator finger joint. Builded mathematical model to express the relation among the structure parameters, workplace and dynamical features of the driving joints. According to the characteristic of flexible hydraulic components and the arrangement of the flexible components in driven band, proposed the driven principle to control...
This paper deals with the application of the sliding mode control technique on the position servo system for a multifingered hand. The configuration of the hand system is described. The state equations of a single finger joint are presented based on dynamic model. Sliding mode controller was also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained...
This paper develops a motor-driven massage artificial electro-mechanical manipulator system with intelligent biomedical sensing-monitoring capabilities and constructs the path of massage process by using CCD image processing technique. In this paper, we integrate a versatile inter-digital electrocardiograph (ECG) into the manipulator system and construct a massage path by using twin CCD image processing...
We have previously shown that hemispherical soft fingertips are at equilibrium when they are in contact with objects, suggesting that the contact force and flexibility of these soft fingertips are important for stable grasping and manipulation. Hence, by making use of these characteristics, soft fingers can manipulate objects dexterously. While our previous work has focused on pairs of 1-DOF fingers...
We have previously shown that a hemispherical soft fingertip is in equilibrium when it is in contact with an object. The characteristics of the contact force and flexibility of a soft fingertip are important in stable grasping and manipulation. Hence, using these characteristics soft fingers can manipulate objects dexterously. We previously focused on a pair of 1-DOF fingers with soft fingertips....
This paper defines ??modal space disturbance??, which is the position error of between environment in real world and virtual system in modal space. The virtual system motions are abstracted by using mode quarry matrix. In addition, this paper proposes ??modal space disturbance observer?? which estimates modal space disturbance. An estimate value of modal space disturbance is calculated, it becomes...
The problem of determining whether a 3-D grasp is kinematically feasible is addressed in this paper. A unified computational framework for the kinematic feasibility analysis of grasps is proposed. In the study, we transform the detection of the feasibility of the grasp to the estimate of the relationship (contact, penetrate, and detach) between the exterior surfaces of the object and the hand's elements...
This paper proposes an optimal control methodology that addresses the problem of control of fingertip during a general class of task that requires the fingertip to make a transition from non-contact motion to contact motion. Specifically, the task that the fingertip makes and transitions from motion to static well-directed force production. Here we present a mathematical framework for controlling...
This paper deals with motion control of throwing generated by dexterous action. Dexterous actions can be seen in many sports. In baseball pitching, dexterous throwing seems to use energy transfer and a physical constraint at the elbow joint. To implement the dexterous throwing, two types of two-link underactuated manipulator are presented. One model has a spring at 2nd joint which represents an arm's...
This paper focuses on three-dimensional grasping and manipulation by robotic fingers with soft fingertips. The authors have proposed two-dimensional parallel-distributed model of a soft fingertip to describe the dependency of its potential energy to the relative orientation between the fingertip and the object. Here we extend the previous two-dimensional model to three-dimensional model, incorporating...
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, position/force hybrid control of an endeffector of a multi-joint redundant (or nonredundant) robot under a nonholonomic constraint is reinterpreted in terms of ldquosubmersionrdquo in Riemannian geometry. A force control signal...
The present paper proposes a novel quality measure for choosing a grasp with high task accuracy to achieve a specified task. In precision manipulation tasks such as a peg-in-hole insertion, the task accuracy required for each direction in the task space is different. It is required to choose the grasp which meets with specified task requirements. According to the linear system theory, the task-oriented...
Isotropic manipulators are generally considered as manipulators with optimum dexterity. Currently, many serial, redundant, or parallel isotropic manipulators can be easily developed from the so-called isotropic generators that consist of six straight lines and a reference point. Most existing isotropic generators, however, cannot be employed to develop 6-DOF isotropic parallel manipulators with less...
In this paper, a kinematic model for motion coordination of a redundant multi-fingered robotic hand is derived, which allows to compute the object pose from the joint variables of each finger as well as from a suitable set of contact variables. Then, a prioritized inverse kinematics scheme with redundancy resolution, both with inverse and transpose Jacobian matrix, is developed. This algorithm can...
In this paper, one kind of 3-UPS parallel robot is researched. At first, the inverse matrix of Jacobian is obtained according to the inverse kinematics equation of parallel robot, and then the condition number of Jacobian matrix is acquired. Then, it takes the condition number of Jacobian matrix as measurable index to analyze the processing dexterity of robot based on MATLAB. Therefore, the distribution...
This paper follows a method to determine a set of optimal design parameters of a linear Delta robot (LDR) whose workspace is as close as possible of being equal to a prescribed regular-shaped dexterous workspace (PRsDW). The design process proposed in this paper considers the particularity of the LDR. The kinematic problem is analyzed in brief to determine the design parameters and their relation...
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