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    Stiffness Analysis and Control of Multi-Fingered Robot Hands

    Source: Journal of Dynamic Systems, Measurement, and Control:;1995:;volume( 117 ):;issue: 003::page 435
    Author:
    H. R. Choi
    ,
    W. K. Chung
    ,
    Y. Youm
    DOI: 10.1115/1.2799138
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: 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.
    keyword(s): Robots , Stiffness , Force AND Computation ,
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      Stiffness Analysis and Control of Multi-Fingered Robot Hands

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    http://yetl.yabesh.ir/yetl1/handle/yetl/115065
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorH. R. Choi
    contributor authorW. K. Chung
    contributor authorY. Youm
    date accessioned2017-05-08T23:46:47Z
    date available2017-05-08T23:46:47Z
    date copyrightSeptember, 1995
    date issued1995
    identifier issn0022-0434
    identifier otherJDSMAA-26216#435_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/115065
    description abstractIn 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleStiffness Analysis and Control of Multi-Fingered Robot Hands
    typeJournal Paper
    journal volume117
    journal issue3
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2799138
    journal fristpage435
    journal lastpage439
    identifier eissn1528-9028
    keywordsRobots
    keywordsStiffness
    keywordsForce AND Computation
    treeJournal of Dynamic Systems, Measurement, and Control:;1995:;volume( 117 ):;issue: 003
    contenttypeFulltext
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    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian