Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand.
Bibliographic Information
- Other Title
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- 二次元平面内における2本指ロボットハンドの把握パラメータ同定
- 2ジゲン ヘイメンナイ ニ オケル 2ホン シロボット ハンド ノ ハアク パ
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Abstract
Unknown force and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system ban be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 58 (554), 3043-3049, 1992
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001206296956928
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- NII Article ID
- 130004229821
- 110002380532
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 3790589
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed