Properties of the Grasp Stiffness Matrix and Conservative Control Strategies

International Journal of Robotics Research

Volumn 18, Issue 2, 1999, Pages 159-167

  Kao, Imin ^a   Ngo, Chi ^a  

^a USA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM ANALYSIS; MOTION CONTROL; ROBOTICS; STIFFNESS MATRIX; SYSTEM STABILITY;

GRASP STIFFNESS MATRIX;

END EFFECTORS;

EID: 0033080228     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/02783649922066132     Document Type: Article

References (25)

1. Ciblak, N., and Lipkin, H. 1994. Asymmetric Cartesian stiffness for the modeling of compliant robotic systems. ASME Conference - Robotics: Kinematics, Dynamics, and Control, DE vol. 72. New York: ASME, pp. 197-204.
2. Cutkosky, M. R., and Kao, I. 1989. Computing and controlling the compliance of a robotic hand. IEEE Trans. Robot. Automat. 5(2):151-165.
3. Dimentberg, F. M. 1965. The screw calculus and its applications in mechanics. Technical Report FTD-HT-23-1632-67, Foreign Technology Division, Wright-Patterson Air Force Base.
4. Griffis, M., and Duffy, J. 1993. Global stiffness modeling of a class of simple compliant couplings. Mech. Machine Theory 28(2):207-224.
5. Harper, Charlie. 1976. Introduction to Mathematical Physics. Englewood Cliffs, NJ: Prentice Hall.
6. Hogan, N. 1985. Impedance control: An approach to manipulation: Part i, ii, and iii. J. Dynamic Sys. Meas. Control, Trans. ASME 107:1-24.
7. Hogan, N. 1990. Mechanical impedance of single- and multi-articular systems. In Winters, J. M., and Woo, S. L.-Y. (eds.) Multiple Muscle Systems: Biomechanics and Movement Organization. New York: Springer-Verlag, pp. 149-164.
8. Howard, S., Zefran, M., and Kumar, V. 1998. On the 6 × 6 stiffness matrix for three-dimensional motion. J. Mech. Machine Theory 33(4):389-408.
9. Kao, I. 1990. Quasistatic manipulation with compliance and friction. Ph.D. dissertation, Department of Mechanical Engineering, Stanford University.
10. Kao, I. 1994 (San Diego, CA). Stiffness control and calibration of robotic and human hands and fingers. Proc. of the 1994 IEEE Conf. on Robot. and Automat. Washington, DC: IEEE, pp. 399-406.
11. Kao, I., and Cutkosky, M. R. 1992. Dextrous manipulation with compliance and sliding. Intl. J. Robot. Res. 11(1):20-40.
12. Kao, I., and Cutkosky, M. R. 1993. Comparison of theoretical and experimental force/motion trajectories for dextrous manipulation with sliding. Intl. J. Robot. Res. 12(6):529-534.
13. Kao, I., Cutkosky, M. R., and Johansson, R. S. 1997. Robotic stiffness control and calibration as applied to human grasping tasks. IEEE Trans. Robot. Automat. 13(4):557-566.
14. Kearney, R. E., and Hunter, I. W. 1990. System identification of human joint dynamics. Critical Rev. Biomed. Engineering 18(1):55-87.
15. Lai, W. M., Rubin, D., and Krempl, E. 1978. Introduction to Continuum Mechanics. Pergamon Press.
16. Li, J., and Kao, I. 1995. Grasp stiffness matrix - fundamental properties in analysis of grasping and manipulation. Proc. of the 1995 IEEE/RSJ Intl. Conf. on Intell. Robots and Sys. Washington, DC: IEEE, pp. 381-386.
17. Loncaric, J. 1985. Geometrical analysis of compliant mechanisms in robotics. Ph.D. dissertation, Harvard University.
18. Lu, Z., and Goldenberg, A. A. 1995. Robust impedance control and force regulation: Theory and experiments. Intl. J. Robot. Res. 14(3):225-254.
19. Mason, M. T., and Salisbury, J. K. 1985. Robot Hands and the Mechanics of Manipulation. Cambridge: MIT Press.
20. Mussa-Ivaldi, F. A., Hogan, N., and Bizzi, E. 1985. Neural, mechanical, and geometric factors subserving arm posture in humans. J Neurosci. 5(10):2732-2743.
21. Nguyen, V. 1989. Constructing stable grasps. Intl. J. Robot. Res. 8(1):26-37.
22. Pigoski, T., Ciblak, N., and Lipkin, H. 1992. Stiffness mappings employing different frames of reference. Proc. of the 22nd Biennial ASME Mechanisms Conf., vol. DE-47. New York: ASME, pp. 445-452.
23. Schimmels, J. M., and Peshkin, M. A. 1992. Admittance matrix design for force-guided assembly. IEEE Trans. Robot. Automat. 8(2):213-227.
24. Shimoga, K. B., and Goldenberg, A. A. 1992. Constructing multifingered grasps to achieve admittance. Proc. of the IEEE Intl. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 2296-2301.
25. Whitney, D. E. 1982. Quasi-static assembly of compliantly supported parts. ASME Trans. Dyna. Sys. Meas. Control 104(1):65-77.