Computing and controlling compliance of a robotic hand

Cutkosky, Mark R.; Kao, Imin

doi:10.1109/70.88036

Cited by 344 publications

(159 citation statements)

References 6 publications

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“…Now we invoke the basic fact that deformations at a quasirigid contact are much smaller than the object's characteristic dimension. 7 The deformation at the contact is on the order of magnitude of . Identifying 's characteristic dimension with , we have that , or equivalently .…”

Section: Appendix B Details Concerning Optimal Fixtures Of Polygonsmentioning

confidence: 99%

“…The literature contains relatively few compliant quality measures, all of which rely on the grasp stiffness matrix [2]. For example, the authors [7] consider the eigenvalues of the grasp stiffness matrix, while Lin et al consider the behavior of the stiffness matrix on certain invariant subspaces [29]. Another example is the work of Donoghue et al [8], who propose, as a quality measure, a weighted sum of displacement components which are determined by the grasp stiffness matrix.…”

Section: Introductionmentioning

confidence: 99%

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Constructing minimum deflection fixture arrangements using frame invariant norms

Lin

Burdick

Rimon

2006

IEEE Trans. Automat. Sci. Eng.

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Abstract-This paper describes a fixture planning method that minimizes object deflection under external loads. The method takes into account the natural compliance of the contacting bodies and applies to two-dimensional and three-dimensional quasirigid bodies. The fixturing method is based on a quality measure that characterizes the deflection of a fixtured object in response to unit magnitude wrenches. The object deflection measure is defined in terms of frame-invariant rigid body velocity and wrench norms and is therefore frame invariant. The object deflection measure is applied to the planning of optimal fixture arrangements of polygonal objects. We describe minimum-deflection fixturing algorithms for these objects, and make qualitative observations on the optimal arrangements generated by the algorithms. Concrete examples illustrate the minimum deflection fixturing method.Note to Practitioners-During fixturing, a workpiece needs to not only be stable against external perturbations, but must also stay within a specified tolerance in response to machining or assembly forces. This paper describes a fixture planning approach that minimizes object deflection under applied work loads. The paper describes how to take local material deformation effects into account, using a generic quasirigid contact model. Practical algorithms that compute the optimal fixturing arrangements of polygonal workpieces are described and examples are then presented.

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Section: Appendix B Details Concerning Optimal Fixtures Of Polygonsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Constructing minimum deflection fixture arrangements using frame invariant norms

Lin

Burdick

Rimon

2006

IEEE Trans. Automat. Sci. Eng.

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“…When the preload level is too high this term can possibly destabilize the grasp, a phenomena known as "coin snapping" in the grasping literature [6,23,28]. The third term represents the overlapsegment change of direction due to small displacements of B.…”

Section: K)mentioning

confidence: 99%

“…The norm of A as is given by A as = |c| /3(2 − ν), while the minimal eigenvalue of A s satisfies the inequality λ min (A s ) ≥ det(A s )/tr(A s ). 6 Substituting for det(A s ) and tr(A s ), condition (28) is implied by the stricter inequality:…”

Section: Synthesis Of Compliantly Stable Graspsmentioning

confidence: 99%

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Shapiro

Rimon

Burdick

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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This paper considers the effect of natural material compliance on the stiffness and stability of frictional multi-contact grasps and fixtures. The contact preload profile is a key parameter in the nonlinear compliance laws governing such contacts. The paper introduces the Hertz-Walton contact compliance model which is valid for linear contact loading profiles. The model is specified in a lumped parameter form suitable for on-line grasping applications, and is entirely determined by the contact friction and by the material and geometric properties of the contacting bodies. The model predicts an asymmetric stiffening of the tangential reaction force as the normal load at the contact increases. As a result, the composite stiffness matrix of multi-contact grasps governed by natural compliance effects is asymmetric, indicating that these contact arrangements are not governed by any potential energy function. Based on the compliant grasp dynamics, the paper derives rules indicating which contact point locations and what preload profiles guarantee grasp and fixture stability. The paper also describes preliminary experiments supporting the contact model predictions.

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“…The contact type matrix H i 2 < l 2l and the matrix G i = S i H i 2 < l2l express filtering effects that filter out some forces/moments of the end-point of the arm i and transmit other forces/moments to the task point depending on the contact mechanism. Also, the end-point velocity vector of the arm i transmitted from the task point is denoted as o _ X tri 2 < l , and the vector of the forces/moments transmitted from the end-point of the arm i to the object as o F tri 2 < l [14], [15], where l i is the number of the degrees of freedom of the forces/moments that can be transmitted from the end-point of the arm i to the object. The matrix S i 2 < l2l expresses the geometrical relationship between the task point and the end-point of the arm i, which is given by…”

Section: B Coordinate Systemsmentioning

confidence: 99%

Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions

Tsuji

Jazidie²,

Kaneko

1997

IEEE Trans. Syst., Man, Cybern. B

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Abstract-A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effectors is proposed. The method can generate the trajectories of the multiple arms in a distributed manner based on a concept of a virtual interaction force which represents an interaction between an end-effector and an environment. It is shown that the method is effective not only for simple cooperative tasks such as positioning a common object, but also for more complicated tasks including relative motions among arms.

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Computing and controlling compliance of a robotic hand

Cited by 344 publications

References 6 publications

Constructing minimum deflection fixture arrangements using frame invariant norms

Constructing minimum deflection fixture arrangements using frame invariant norms

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions

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