1992 Volume 35 Issue 2 Pages 245-251
This paper is concerned with the study of the stable holding and movement of an object by the grasping action of a robot hand. A control algorithm is proposed for manipulating the jointed-finger hand while grasping an object and is applied to a hand with two fingers and four degrees of freedom developed especially for the study. In the experiment, an object on a plane is initially grasped by the hand and then moved along the restraining plane maintaining appropriate force. As a result, using the elastic-finger unit with contact sensors, the present hand successfully moved the object while absorbing the outside force from the restraining plane.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing