Hostname: page-component-7c8c6479df-27gpq Total loading time: 0 Render date: 2024-03-28T05:40:40.442Z Has data issue: false hasContentIssue false

Grasping, coordination and optimal force distribution in multifingered mechanisms

Published online by Cambridge University Press:  09 March 2009

P. Gorce
Affiliation:
Laboratoire de Robotique de Paris, Université Pierre et Marie CURIE (Paris VI), 4 place Jussieu, Case 164, 75252 PARIS Cedex 05 (FRANCE)
C. Villard
Affiliation:
Laboratoire de Robotique de Paris, Université Pierre et Marie CURIE (Paris VI), 4 place Jussieu, Case 164, 75252 PARIS Cedex 05 (FRANCE)

Summary

In the field of multifingered mechanisms the control/command problem is mainly a problem o1 coordination. The problem is not only to coordinate joints of a chains but also to coordinate the different chains together.

This paper presents a general and efficient method for implementing the control/command of such systems, taking into account the force distribution problem. To solve this problem it is necessary to pay great attention to dynamic effects. To do this, we broke down the Inverse Dynamic Model (I.D.M.) problem into two main levels; One level is devoted to I.D.M. computation; it can be called the Finger Level (F.L.). As we wanted to divide up the work to be done as much as possible, we subdivided the Finger Level according to the number o1 kinematic chains. In addition, we considered a second level, the Coordinator. This level has to control all the chains using the Fingers-to-Object-Interaction Model (F.O.LM.).

Next, we will also introduce new grasping systems: Polyvalent Gripper Systems (P.G.S). There are a new solution to multicomponent assembly problems. As they can be equipped with several multifingered mechanisms, they can also use the control/command scheme.

Type
Article
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Salisbury, J.K. and Roth, B., “Kinematic and force analysis of articulated mechanical handsJ. Mech. Trans. Autom. in Des. 105, (1983).CrossRefGoogle Scholar
2. Jacobsen, S.C. et al, “Design of the UTAH/MIT dexterous hand”, Proc. IEEE International Conference on Robotics and Automation, (1986), p.Google Scholar
3. Guinot, J.C., Bidaud, P. and Zeghloud, S., “Modelisation and simulation of force-position control for a manipulator gripper”, Robotics Research the 3rd International Symposium (Ed. Faugeras, O. D. and Giralt, G.). The MIT Press, 1986, pp. 315319.Google Scholar
4. Hanafusa, H. & Asada, H., “Stable prehension by a robot hand with elastic fingersProc. 7th ISIR Tokyo, Japan, (1977) pp. 361368.Google Scholar
5. Jameson, J.W. and Leiffer, L.J., “Quasi-static analysis: A method for predicting grasp stabilityProc. IEEE International Conference on Robotics and Automation, (1986) pp. 876883.Google Scholar
6. Li, Z. and Santry, S.S., “Task-oriented optimal grasping by multifingered robot handIEEE J. Robotics and Automation 4, No. 1, 3243 (02, 1988).CrossRefGoogle Scholar
7. Nguyen, V., “The synthesis of the stable grasp in the planeProc. IEEE International Conference on Robotics and Automation (1986) pp. 884889.Google Scholar
8. Yoshikawa, T., “Dynamics hybrid position-force control of robot manipulators - description of hard constraints and calculation of joint driving forceProc. IEEE Conference on Robotics and Automation (1986) pp. 13931398.Google Scholar
9. Kerr, J. and Roth, R., “Analysis of multifingered handsInt. J. Robotics Research, 4, No. 4, 317 (1986).CrossRefGoogle Scholar
10. Ji, Z. and Roth, B., “Direct computation of grasping force for three-finger tip-prehension grasps” In Trends and Developments in Robotics, ASME pub. DE 15–3, 125138 (1988).Google Scholar
11. Nakamura, Y., Nagai, K. and Yoshikawa, T., “Mechanisms of coordination manipulation by multiple Robotics MechanismsProc. IEEE International Conference on Robotics and Automation, Raleigh, (1987) pp. 991998.Google Scholar
12. Chen, F.T. and Orin, D.E., “Efficient algorithm for optimal force distribution in multiple-chain robotic systems, The Compact-Dual LP MethodProc IEEE International Conference on Robotics and Automation, (1989) pp. 943950.Google Scholar
13. Chen, F.T. and Orin, D.E., “Optimal force distribution in multiple-chains Robotic systemsProc. IEEE Transactions on Systems, Man, and Cybernetics 21, No. 1, 1324 (01/02, 1991).Google Scholar
14. Hsu, P., “Control of multi-manipulator system: trajectory tracking, load distribution, internat force control and decentralized architectureProc. IEEE International Conference on Robotics and Automation (1989) pp. 12341245.Google Scholar
15. Yoshikawa, T., “Optimal load distribution of two industrial robot handling a single object”, Proc. IEEE International Conference on Robotics and Automation, Raleigh (1987) pp. 19982004.Google Scholar
16. Nakamura, Y., Nagai, K. and Yoshikawa, T., “Dynamics and stability in coordination of multiple Robotics mechanismsInt. J. Robotics Research 8, No. 2, 4461 (04, 1989).CrossRefGoogle Scholar
17. Cole, A., Hauser, J. and Saltry, S., “Kinematics and control of multifingered hands with rolling contactIEEE J. Robotics and Automation 344, 398404 (1989).Google Scholar
18. Yashima, M., Kimura, H. and Nakano, E., “Mechanics of sliding manipulation by multifingered hands—Development of fixtures for automatical assemblyIEEE/RSJ International Workshop on Intelligent Robot and System IROS'91 (11 3–5 1991) pp. 698708.Google Scholar
19. Li, Z., Hsu, P. and Saltry, S., “Grasping and coordinated manipulation by a multifingered robot handInt. J. Robotics Research 8, No. 4, 3350 (08, 1989).Google Scholar
20. Neuman, C.P. and Murray, J., “Computational robot dynamics: foundations and applicationsJ. Robotics Systems, 2(4), 425452 (1985).CrossRefGoogle Scholar
21. Silver, W.M., “On the equivalence of Lagrangien and Newton-Euler dynamics for manipulatorsInt. J. Robotics Research 1, 6070 (1982).CrossRefGoogle Scholar
22. Hashimoto, K. and Kimura, H., “A new parallel algorithm for inverse dynamicsInt. J. Robotics 8, No. 1, 6376 (02, 1989).CrossRefGoogle Scholar
23. Hashimoto, K., Ohashi, K. and Kimura, H., “An implementation of a parallel algorithm for real-time model based control on a network of microprocessorsInt. J. Robotics Research 9, No. 6, 3447 (12, 1990).CrossRefGoogle Scholar
24. Zomaya, A.Y. and Moms, A.S., “Dynamic simulation and modeling of robot manipulators using parallel architec turesInt. J. Robotics and Automation 6, No. 3, 129139 (1991).Google Scholar
25. Kasahara, H. and Narita, S., “Parallel processing of robot-arm control computation on a multi-processeur systemIEEE J. Robotics and Automation RA-1, No. 2, 104113 (01, 1985).CrossRefGoogle Scholar
26. Zheng, Y.F. and Luh, J.Y.S., “Optimal load distribution of two industrial robot handling a single objectProc. IEEE International Conference on Robotics and Automation (1988) pp. 344349.Google Scholar
27. Luh, J.Y.S., Walker, M.W. and Paul, R.P., “One-line computational scheme for mechanical manipulatorsASME Journal Dynamics Systems Meas. Control 102, 6976 (1980).CrossRefGoogle Scholar
28. Denavit, J. and Hartenberg, R.S., “A kinematic notation for lower pair mechanisms based on matricesTrans. ASME Journal of Appl. Mechanisms 17, 215221 (01, 1985).Google Scholar
29. Khalil, W. and Kleinfinger, J.F., “A new geometric notation for open and closed-loop robotsProc. IEEE International Conference on Robotles and Automation, San Francisco (04, 1986) pp. 11751180.Google Scholar
30. Kosuge, K., Koga, N., Furuta, K. and Nusaki, K., “Coordinated motion control arm based on virtual internal modelProc. IEEE International Conference on Robotics and Automation (1989) pp. 10971102.Google Scholar
31. Luh, J.L. and Lin, C.S., “scheduling of parallel computation for a computer-controlled mechanical manipulatorIEEE Transaction System, Man, Cybernetics SMC-12, No. 2, 214-234 (03 1982).CrossRefGoogle Scholar