Finite motion planning strategy for multifingered robotic hands considering sliding and rolling contacts

Nak Young Chong, Donghoon Choi, Il Hong Suh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

An algorithm for the motion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding contacts as well as rolling contacts between the fingertips and the object at the contact point. Specifically, an optimization problem is firstly formulated and solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then, the relative velocity at the contact point is found by calculating the velocities of the fingertip and the object at the contact point. Finally, time derivatives of the surface variables and the contact angle of the fingertip and the object at the current time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with 3 fingers each of which has 4 joints.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages180-187
Number of pages8
Volume3
ISBN (Print)0818634529
StatePublished - 1993 Jan 1
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: 1993 May 21993 May 6

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period93/05/293/05/6

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  • Cite this

    Chong, N. Y., Choi, D., & Suh, I. H. (1993). Finite motion planning strategy for multifingered robotic hands considering sliding and rolling contacts. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 180-187). Publ by IEEE.