New Metric for Wrench Space Reachability of Multifingered Hand with Contact Uncertainties

被引：0

作者：

Caldas, A. ^{[1
]}

Micaelli, A. ^{[1
]}

Grossard, M. ^{[1
]}

Makarov, M. ^{[2
]}

Rodriguez-Ayerbe, P. ^{[2
]}

Dumur, D. ^{[2
]}

机构：

[1] CEA LIST, Interact Robot Lab, F-91192 Gif Sur Yvette, France

[2] SUP ELEC Syst Sci E3S, F-91192 Gif Sur Yvette, France

来源：

2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年

关键词：

GRASP ANALYSIS; CLOSURE;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents an analysis of object grasping with a multifingered robot hand. Uncertainties on the contact orientation and location are investigated and taken into account to find a new grasp quality measure. This new metric allows to evaluate the controllability of the system and find the Reachable Wrench Space under Uncertainties, a new set introduced in this paper. It includes all the wrenches a grasp can apply whatever the uncertainty is, and gives information about the robustness of the grasp relative to disturbances. Two algorithms are proposed to estimate this new set. Several study cases are presented and tested in simulation to illustrate the new quality metric.

引用

页码：1236 / 1242

页数：7

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