Redundancy and fault-tolerance in grasping and manipulation by multifingered hands

被引：0
作者：
Li, LY
Gruver, WA
Zhang, TH
机构：
来源：
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97 | 1997年
关键词：
redundancy control; fault-tolerance; grasp; manipulation; multifingered hands;
D O I：
10.1109/ICAR.1997.620202
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper treats grasping and manipulation of objects by articulated, multifingered hands. We discuss how to use redundancy to improve the performance of hand-object systems and compensate for potential task failures. We analyze the kinematics for manipulation. Definitions of redundancy based on a minimum-case measure ate presented and an optimization method for redundancy control is proposed. Strategies for optimal fault-tolerant control are introduced to accomplish tasks using finger reconfiguration and joint torque redistribution.
引用
收藏
页码：325 / 330
页数：6
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