Stiffness Analysis for Effective Peg-In/Out-Hole Tasks Using Multi-fingered Robot Hands
- Title
- Stiffness Analysis for Effective Peg-In/Out-Hole Tasks Using Multi-fingered Robot Hands
- Author
- 이병주
- Keywords
- Robot sensing systems; Force sensors; Intelligent robots; Orbital robotics; Transmission line matrix methods; Signal processing; Fingers; Computer science; Intelligent systems; Intelligent control
- Issue Date
- 2000-11
- Publisher
- IEEE/RSJ
- Citation
- Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 2, page. 1229-1236
- Abstract
- This paper deals with stiffness analysis for effective peg-in/out-hole tasks using multifingered robot hand without inter-finger coupling. We first observe the fact that some coupling stiffness elements cannot be planned arbitrary. Then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in/out-hole tasks. 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/out-hole tasks. Simulation results are included to verify the feasibility of the analytic results.
- URI
- https://ieeexplore.ieee.org/document/893187?arnumber=893187&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/162459
- ISBN
- 0-7803-6348-5; 978-0-7803-6348-9
- DOI
- 10.1109/IROS.2000.893187
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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