Stabilizing Effects of Internal Stiffness for Slight Sliding at Contact Points

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概要

• 論文の詳細を見る

• The small sliding at contact points of fingertips is investigated in this paper. The grasp stabilization method with internal stiffness is proposed and its stabilizing effect is demonstrated for the planar three-fingered hand. The grasp stabilizing conditions for the internal stiffness are determined and the optimal grasp in contrast to the conventional point of view is discussed. Finally, the stabilizing effects using the internal stiffness are illustrated by numerical examples.

• 一般社団法人日本機械学会の論文
• 1993-12-15

著者

• FUNAHASHI Yasuyuki

  Department of Mechanical Engineering, Nagoya Institute of Technology

• MIMURA Nobuharu

  Toyota Central R. & D. Labs., Inc.

• Funahashi Yasuyuki

  Department Of Mechanical Engineering Nagoya Institute Of Technology

• Mimura Nobuharu

  Toyota Central R. & D. Labs. Inc.

• Funahashi Yasuyuki

  Department Of Mechanical Engineering

関連論文

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• Algorithm for Computing Fingertip Positions of a Multifingered Hand in Three Dimensions
• Multirate Sampled Data Control of Nonholonomic Systems in Time-State Control Form Based on Periodic Switching
• Kinematics of Planar Multifingered Robot ,Hand with Displacement of Contact Points*
• Parameterization of All Multivariable Deadbeat Tracking Controllers
• Static Stability Analysis of Spatial Grasps Including Contact Surface Geometry
• Ripple-Free Deadbeat Tracking Problem
• Stabilizing Effects of Internal Stiffness for Slight Sliding at Contact Points
• Contact points Identification in Enveloping Grasp
• A Straightforward Synthesis of Parametrization of State Deadbeat Controllers

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