Stiffness Analysis and Control of Multi-Fingered Robot Hands

[+] Author and Article Information
H. R. Choi

Sungkyun kwan University

W. K. Chung, Y. Youm

School of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), Hyoja Dong, Pohang, 790-784, Korea

J. Dyn. Sys., Meas., Control 117(3), 435-439 (Sep 01, 1995) (5 pages) doi:10.1115/1.2799138 History: Received September 16, 1993; Online December 03, 2007


In this paper, we describe the stiffness of a grasp as a function of grasp configuration, grasp forces and joint stiffness of the fingers. The effects caused by the change of joint configuration is included in the computation of the joint stiffness in terms of Stiffness Induced from Configuration Change and Force (SICC). Based on the analysis, the Decentralized Object Stiffness Control (DOSC) method is proposed so as to achieve the desired overall grasp stiffness. The effects of SICC at the joint stiffness and the performance of the proposed stiffness control.

Copyright © 1995 by The American Society of Mechanical Engineers
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