Paper Info
Title
Stiffness analysis for effective peg-in/out-hole tasks using multi-fingered robot hands
Abstract
This paper deals with stiffness analysis for effective peg-in/out-hole tasks using multifingered robot hand without inter-finger coupling. We first observe the fact that some coupling stiffness elements cannot be planned arbitrary. Then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in/out-hole tasks. It is concluded that the location of compliance center on the peg and the coupling stiffness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Simulation results are included to verify the feasibility of the analytic results
Year
DOI
Venue
2000
10.1109/IROS.2000.893187
IROS
Keywords
Field
DocType
manipulator dynamics,multifingered robot hands,inter-finger coupling,rotational direction,assembling,dexterous manipulators,matrix algebra,stiffness matrix,compliance center,coupling stiffness element,peg-in/out-hole tasks,stiffness analysis,coupling stiffness elements,peg-in-hole tasks,translational direction,intelligent systems,computer science,intelligent control,signal processing,operator space
Robot hand,Coupling,Matrix algebra,Simulation,Computer science,Control theory,Stiffness,Control engineering,Stiffness matrix,Robot
Conference
Volume
ISBN
Citations 
2
0-7803-6348-5
2
PageRank 
References 
Authors
0.41
4
4
Name
Order
Citations
PageRank
Byoungho Kim111314.39
Byung-Ju Yi244474.48
Il Hong Suh3780110.60
Sang-Rok Oh437360.95