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Manipulation of a circular object without object information

机译:在没有对象信息的情况下处理圆形对象

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摘要

This paper proposes a manipulation of a circular object in a horizontal plane by a pair of finger robots. This method guarantees the dynamic stability of the system and does not require any object models and object sensing to manipulate the object. It is assumed that there is no friction between the object and the horizontal plane and it is possible to be adequately large friction between the fingertips and the object. We examine the condition of stable grasping of a circular object and propose controllers for stable grasping and for controlling its approximate relative orientation angle without object sensing. The experimental results show the validity of the controller.
机译:本文提出了用一对手指机器人在水平面上操纵圆形物体的方法。该方法保证了系统的动态稳定性,并且不需要任何对象模型和对象感测即可操作对象。假设在物体和水平面之间没有摩擦,并且指尖和物体之间可能有足够大的摩擦。我们研究了圆形物体稳定抓握的情况,并提出了用于稳定抓握并控制其近似相对方位角而无需物体感应的控制器。实验结果表明了该控制器的有效性。

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