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Precision object manipulation with a multifingered robot hand

机译:多指机器人手进行精确的物体操作

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This paper outlines several key issues associated with precision manipulation for robot hands. Precision manipulation is defined as the control of a grasped object using fingertip contacts alone. A set of primitive manipulation functions is defined. They are generalizable in the sense that they take parameters for different object geometry, speed, and direction of motion. A single manipulation can be performed with a number of different grasp topologies. With each manipulation there are several associated computations: 1) the trajectories of the contact points can be calculated a priori from knowledge of the desired object motion; 2) a workspace analysis is performed to determine that the manipulation is within the workspaces of all of the fingers simultaneously; and 3) task partitioning is performed to specify force- and position-controlled directions of the contact points. This partitioning controls the grasping forces on the object during the grasping and manipulation phases. The paper also describes how the primitive manipulations can be combined into complex tasks. The complex example of removing a top from a childproof bottle is presented. The manipulations were implemented on a Utah/MIT dextrous robot-hand system.
机译:本文概述了与机器人手的精确操纵相关的几个关键问题。精确操纵被定义为仅使用指尖接触即可控制被抓物体。定义了一组原始操作函数。它们是通用的,因为它们采用了针对不同对象几何形状,速度和运动方向的参数。可以使用多种不同的抓取拓扑来执行单个操作。每次操作都有几种相关的计算方法:1)接触点的轨迹可以根据对所需物体运动的了解而事先计算出来; 2)执行工作空间分析以确定操作同时在所有手指的工作空间内; 3)执行任务划分以指定接触点受力和位置控制的方向。在抓握和操纵阶段,这种划分控制对物体的抓握力。本文还描述了如何将原始操作组合到复杂的任务中。提出了一个从儿童安全瓶上取下瓶盖的复杂示例。这些操作是在犹他州/麻省理工学院的dextrous机械手系统上执行的。

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