On the equivalence of internal and interaction forces in multifingered grasping

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 5, 1999, Pages 934-941

  Zuo, Bing Ran ^a   Qian, Wen Han ^a  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE CONTROL; GRIPPERS;

INTERACTION FORCES; INTERNAL FORCES; MULTIFINGERED GRASPING;

END EFFECTORS;

EID: 0033321617     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.795796     Document Type: Article

References (35)

1. J. K. Salisbury and B. Roth, "Kinematic and force analysis of articulated mechanical hands," ASME J. Mech., Transm. Automat. Design, vol. 105, pp. 35-41, Mar. 1983.
2. V. R. Kumar and K. J. Waldron, "Force distribution in closed kinematic chains," IEEE J. Robot. Automat., vol. 4, pp. 657-664, Dec. 1988.
3. _, "Suboptimal algorithms for force distribution in multifingered grippers," IEEE Trans. Robot. Automat., vol. 5, pp. 491-498, Aug. 1989.
4. K. J. Waldron, "Force and motion management in legged locomotion," IEEE J. Robot. Automat., vol. RA-2, pp. 214-220, Dec. 1986.
5. V. R. Kumar and K. J. Waldron, "Actively coordinated vehicle systems," ASME J. Mech., Transm. Automat. Design, vol. 111, pp. 223-231, June 1989.
6. _, "Force distribution in walking vehicles," ASME J. Mech. Design, vol. 112, pp. 90-99, Mar. 1990.
7. T. Yoshikawa and K. Nagai, "Manipulating and grasping forces in manipulation by multifingered robot hands," IEEE Trans. Robot. Automat., vol. 7, pp. 67-77, Feb. 1991.
8. Y. C. Chen, I. D. Walker, and J. B. Cheatham, "Visualization of force-closure grasps for object through contact force decomposition," Int. J. Robot. Res., vol. 14, no. 1, pp. 37-75, 1995.
9. M. Aicardi, G. Casalino, and G. Cannata, "Contact force canonical decomposition and the role of internal forces in robust grasp planning problems," Int. J. Robot. Res., vol. 15, no. 4, pp. 351-364, 1996.
10. J. Kerr and B. Roth, "Analysis of multifingered hands," Int. J. Robot. Res., vol. 4, no. 4, pp. 3-17, 1985.
11. Z. Ji and B. Roth, "Direct computation of grasping force for three-finger tip-prehension grasps," ASME J. Mech., Transm. Automat. Design, vol. 110, pp. 405-413, Dec. 1988.
12. Y. C. Park and G. P. Starr, "Finger force computation for manipulation of an object by a multifingered robot hand," in Proc. IEEE Int. Conf. Robot. Automat., 1989, pp. 930-935.
13. G. L. Guo and W. A. Gruver, "Fingertip force planning for multifingered robot hands," in Proc. IEEE Int. Conf. Robot. Automat., 1991, pp. 665-672.
14. W. Y. Chung and K. J. Waldron, "Force distribution by optimizing friction angle for multifinger system," in Proc. IEEE Int. Conf. Robot. Automat., 1993, pp. 717-772.
15. K. B. Shimoga, "Robot grasp synthesis algorithms: A survey," Int. J. Robot. Res., vol. 15, no. 3, pp. 230-266, 1996.
16. J. K. Salisbury and J. J. Craig, "Articulated hands: Force control and kinematic issues," Int. J. Robot. Res., vol. 1, no. 1, pp. 4-17, 1982.
17. Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms," Int. J. Robot. Res., vol. 8, no. 2, pp. 44-61, 1989.
18. W. Holzmann and J. M. McCarthy, "Computing the friction forces associated with a three-fingered grasp," IEEE J. Robot. Automat., vol. RA-1, pp. 206-210, Dec. 1985.
19. M. Nahon and J. Angeles, "Optimization of dynamic forces in mechanical hands," ASME J. Mech. Design, vol. 113, no. 2, pp. 167-173, June 1991.
20. M. Buss, H. Hashimoto, and J. B. Moore, "Dextrous hand grasping force optimization," IEEE Trans. Robot. Automat., vol. 12, pp. 406-418, June 1996.
21. D. E. Orin and S. Y. Oh, "Control of force distribution in robotic mechanisms containing closed kinematic chains," ASME J. Dyn. Syst., Meas. Contr., vol. 102, pp. 134-141, June 1981.
22. F. T. Cheng and D. E. Orin, "Efficient algorithm for optimal force distribution - The compact-dual LP method," IEEE Trans. Robot. Automat., vol. 6, pp. 178-187, Apr. 1990.
23. _, "Optimal force distribution in multiple-chain robotic system," IEEE Trans. Syst. Man Cybern., vol. 21, pp. 13-24, Jan./Feb. 1991.
24. _, "Efficient formulation of the force distribution equations for simple closed-chain robotic mechanisms," IEEE Trans. Syst. Man Cybern., vol. 21, pp. 25-32, Jan./Feb. 1991.
25. M. Nahon and J. Angeles, "Real-time force optimization in parallel kinematic chains under inequality constraints," IEEE Trans. Robot. Automat., vol. 8, pp. 439-450, Aug. 1992.
26. C. A. Klein, K. W. Olson, and D. R. Pugh, "Use of force and attitude sensors for locomotion of a legged vehicle over irregular terrain," Int. J. Robot. Res., vol. 2, no. 2, pp. 3-17, 1983.
27. C. A. Klein and T. S. Chung, "Force interaction and allocation for the legs of a walking vehicle," IEEE J. Robot. Automat., vol. RA-3, pp. 546-555, Dec. 1987.
28. C. A. Klein and S. Kittivatcharapong, "Optimal force distribution for the legs of walking machine with friction cone constraints," IEEE Trans. Robot. Automat., vol. 6, pp. 73-85, Feb. 1990.
29. J. F. Gardner, "Force distribution in walking machines over rough terrain," ASME J. Dyn. Syst., Meas. Contr., vol. 113, pp. 754-758, 1991.
30. I. D. Walker, R. A. Freeman, and S. I. Marcus, "Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators," Int. J. Robot. Res., vol. 10, no. 4, pp. 396-409, 1991.
31. X. P. Yun and V. R. Kumar, "An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations," IEEE Trans. Robot. Automat., vol. 7, pp. 618-625, Oct. 1991.
32. X. P. Yun, "Object handling using two arms without grasping," Int. J. Robot. Res., vol. 12, no. 1, pp. 99-106, 1993.
33. B. R. Zuo, "Multi-fingered robotic grasping and coordination control," Ph.D. dissertation, Shanghai Jiao Tong Univ., Shanghai, China, 1998.
34. B. R. Zuo and W. H. Qian, "A force-closure test for soft multi-fingered grasps," Sci. China, Series E, vol. 41, no. 1, pp. 62-69, 1998.
35. A. Bicchi, "On the closure properties of robotic grasping," Int. J. Robot. Res., vol. 14, no. 4, pp. 319-334, 1995.