Contact point and force sensing for inner link based grasps

This paper addresses the problem in detecting contact forces between link elements and an object for inner link based grasps by assuming that contact locations are not given a priori. This problem is separated into two steps, i.e., the contact point sensing and the contact force sensing. An active sensing scheme to detect all contact points simultaneously is presented. The advantages of the proposed scheme are explained in detail by comparison with conventional approaches. After the contact points are obtained the contact forces can then be evaluated by using the torque sensors mounted on the robot arm (or fingers). The concept of contact force observability is also discussed.<<ETX>>

[1]  Claudio Melchiorri,et al.  Mechanical And Control Features Of The University Of Bologna Hand Version 2 , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Kenneth Salisbury,et al.  Whole arm manipulation , 1988 .

[3]  David E. Orin,et al.  Control of force distribution for power grasp in the DIGITS system , 1990, 29th IEEE Conference on Decision and Control.

[4]  William T. Townsend,et al.  Integration of tactile force and joint torque information in a whole-arm manipulator , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[5]  John Kenneth Salisbury,et al.  Determination of Manipulator Contact Information from Joint Torque Measurements , 1989, ISER.

[6]  Vijay Kumar,et al.  A minimum principle for the dynamic analysis of systems with frictional contacts , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[7]  Kazuhito Yokoi,et al.  On a new torque sensor for tendon drive fingers , 1990, IEEE Trans. Robotics Autom..

[8]  Jeffrey C. Trinkle,et al.  Enveloping, frictionless, planar grasping , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[9]  Makoto Kaneko,et al.  Standing-up characteristic of contact force during self-posture changing motions , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  Antonio Bicchi,et al.  Force distribution in multiple whole-limb manipulation , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[11]  John Kenneth Salisbury,et al.  Preliminary design of a whole-arm manipulation system (WAMS) , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.