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Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes : A Riemannian-Geometry Approach
المؤلفون المشاركون
المصدر
العدد
المجلد 2010، العدد 2010 (31 ديسمبر/كانون الأول 2010)، ص ص. 1-13، 13ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2010-04-20
دولة النشر
مصر
عدد الصفحات
13
التخصصات الرئيسية
الملخص EN
Modeling, control, and stabilization of dynamics of two-dimensional object grasping by using a pair of multijoint robot fingers are investigated under rolling contact constraints and arbitrariness of the geometry of the object and fingertips.
First, modeling of rolling motion between 2D rigid bodies with arbitrary shape is treated under the assumption that the two contour curves coincide at the contact point and share the same tangent.
The rolling constraints induce the Euler equation of motion that is parameterized by a pair of arclength parameters and constrained onto the kernel space as an orthogonal complement to the image space spanned from all the constraint gradients.
Furthermore, it is shown that all the Pfaffian forms of the rolling constraints are integrable in the sense of Frobenius and therefore the rolling contacts are regarded as a holonomic constraint.
The Euler-Lagrange equation of motion of the overall fingers/object system is rederived together with a couple of first-order differential equations that express evolution of contact points in terms of quantities of the second fundamental form.
A control signal called “blind grasping” is defined and shown to be effective in maintenance or stabilization of grasping without using the details of object shape and parameters or external sensing.
An extension of the Dirichlet-Lagrange stability theorem to a system of DOF-redundancy under constraints is discussed by introducing a Morse-Bott function and deriving its Hessian, in a special case that the object to be grasped is a parallelepiped.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Arimoto, Suguru& Yoshida, Morio. 2010. Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes : A Riemannian-Geometry Approach. Journal of Robotics،Vol. 2010, no. 2010, pp.1-13.
https://search.emarefa.net/detail/BIM-508707
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Arimoto, Suguru& Yoshida, Morio. Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes : A Riemannian-Geometry Approach. Journal of Robotics No. 2010 (2010), pp.1-13.
https://search.emarefa.net/detail/BIM-508707
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Arimoto, Suguru& Yoshida, Morio. Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes : A Riemannian-Geometry Approach. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-13.
https://search.emarefa.net/detail/BIM-508707
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-508707
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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