SICE Division Conference Program and Abstracts
SICE 2nd Annual Conference on Control Systems
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Grasping and Manipulation of an Object by Two-fingered Robot Hand with Rolling Contact at the Fingertip
—Control of the Object and Contact Points by Using the Nonholonomy of the Constraints—
Akira NakashimaKenji NagaseYoshikazu Hayakawa
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Pages 92

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Abstract
In this paper, we discuss grasping and manipulation of an object by two-fingered robot hand, each of which has six degree of freedom. The contact motion between the object and each fingertips is assumed to be the pure rolling. First, we provide a general formulation of a linearizing compensator for the motion of the object, the grasping force and some of the contact points. Second, we propose a control method which regulates of all contact points by utilizing a closed path of the controlled contact points. Numerical examples are shown to prove the efficiency.
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© 2002 SICE
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