| contributor author | Wen-Yeuan Chung | |
| contributor author | Kenneth J. Waldron | |
| date accessioned | 2017-05-08T23:46:51Z | |
| date available | 2017-05-08T23:46:51Z | |
| date copyright | March, 1995 | |
| date issued | 1995 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26213#37_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/115116 | |
| description abstract | A method of force allocation by optimizing the friction angles at finger contacts was combined with the computed torque method to find the torques to be commanded at finger joints for multifingered systems. In this way, slip can be avoided when the object is grasped or manipulated. The proposed method can be used to efficiently find the input torques, and is applicable for real-time computation. A history-based method is also proposed to improve the smoothness of the input torque commands. Three-dimensional simulation results are given. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | An Integrated Control Strategy for Multifingered Systems | |
| type | Journal Paper | |
| journal volume | 117 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2798521 | |
| journal fristpage | 37 | |
| journal lastpage | 42 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1995:;volume( 117 ):;issue: 001 | |
| contenttype | Fulltext | |