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    Classification and Kinematic Equivalents of Contact Types for Fingertip Based Robot Hand Manipulation

    Source: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004::page 41014
    Author:
    Rojas, Nicolas
    ,
    Dollar, Aaron M.
    DOI: 10.1115/1.4032865
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such classification is the modeling of contacts as kinematic pairs. In this paper, we extend this notion by modeling the effects of a robot contacting a body as kinematic chains. The introduced kinematicchainbased contact model is based on an extension of the Bruyninckx–Hunt approach of surface–surface contact. A general classification of nonfrictional and frictional contact types suitable for both manipulation analyses and robot hand design is then proposed, showing that all standard contact categories used in robotic manipulation are special cases of the suggested generalization. New contact models, such as ball, tubular, planar translation, and frictional adaptive finger contacts, are defined and characterized. An example of manipulation analysis that lays out the relevance and practicality of the proposed classification is detailed.
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      Classification and Kinematic Equivalents of Contact Types for Fingertip Based Robot Hand Manipulation

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    http://yetl.yabesh.ir/yetl1/handle/yetl/161969
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    contributor authorRojas, Nicolas
    contributor authorDollar, Aaron M.
    date accessioned2017-05-09T01:31:37Z
    date available2017-05-09T01:31:37Z
    date issued2016
    identifier issn1942-4302
    identifier otherjmr_008_04_041014.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/161969
    description abstractIn the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such classification is the modeling of contacts as kinematic pairs. In this paper, we extend this notion by modeling the effects of a robot contacting a body as kinematic chains. The introduced kinematicchainbased contact model is based on an extension of the Bruyninckx–Hunt approach of surface–surface contact. A general classification of nonfrictional and frictional contact types suitable for both manipulation analyses and robot hand design is then proposed, showing that all standard contact categories used in robotic manipulation are special cases of the suggested generalization. New contact models, such as ball, tubular, planar translation, and frictional adaptive finger contacts, are defined and characterized. An example of manipulation analysis that lays out the relevance and practicality of the proposed classification is detailed.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleClassification and Kinematic Equivalents of Contact Types for Fingertip Based Robot Hand Manipulation
    typeJournal Paper
    journal volume8
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4032865
    journal fristpage41014
    journal lastpage41014
    identifier eissn1942-4310
    treeJournal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian