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Robustness of power grasp | IEEE Conference Publication | IEEE Xplore

Robustness of power grasp


Abstract:

Power grasp is redefined as a type of grasp that its mechanism can resist passively against external forces without relying on feedback control of joint torques. A comput...Show More

Abstract:

Power grasp is redefined as a type of grasp that its mechanism can resist passively against external forces without relying on feedback control of joint torques. A computational algorithm is invented to calculate the critical external force, a force which is requisite to move the grasped object in a definite direction. Virtual work is proposed as the quality measure of the robustness of power grasp. Because this measure is a scalar, it is convenient and suitable for the planning of power grasp. The effectiveness of the computational algorithm of critical external force and quality measure of robustness of power grasp is verified with a numerical example.<>
Date of Conference: 08-13 May 1994
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-8186-5330-2
Conference Location: San Diego, CA, USA

References

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