Analysis of compliance characteristic for effective multi-fingered robotic peg-in-hole task

被引：0

作者：

Kim, BH ^{[1
]}

Oh, SR ^{[1
]}

Yi, BJ ^{[1
]}

Suh, IH ^{[1
]}

Chung, WK ^{[1
]}

机构：

[1] Hanyang Univ, Sch Elect Engn & Comp Sci, Seoul 133791, South Korea

来源：

IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES | 2000年

关键词：

peg-in-hole; analysis of compliance characteristic; robot hand;

D O I：

暂无

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 deals with analysis of the compliance characteristic for effective peg-in-hole task using robot hand without inter-finger coupling. We first classify the task of inverting a peg-in-a-hole into three contact styles between the peg and the hole. Next, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in-hole task for each case. It is concluded that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results.

引用

页码：410 / 415

页数：6

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