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�������պ����ѧѧ�� 2004, Vol. 30 Issue (05) :400-404    DOI:
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Selection of calculation model for contact sensing of robot hand using force/torque measurement
Han Zhuangzhi, Wang Tianmiao, Zhang Yuru, Liu Junchua*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� In contact sensing of robot hands, force/torque sensor can be used to detect the position of contact points between the grasped object and the fingers. When hard finger contact model is used to calculate the points from the measured data, the solution may not exist. This problem was investigated under the contact models of hard finger and soft finger respectively. Mathematical verification was developed to find the existence condition of solutions. A simple criterion was provided to determine which contact model must be selected for calculating contact points. The criterion will guarantee the existence of solution. Experiments show that the reliable measurement of contact points can be achieved by this approach.
Keywords�� robots   force transducers   robot hand   contact sensing     
Received 2002-12-31;
Fund:

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About author: ��׳־(1972-),��,�ӱ�ʯ��ׯ��,��ʿ��, zz han@sina.com.
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��׳־, ������, ������, ������.����ָ��6ά���������ĽӴ�������㷨�о�[J]  �������պ����ѧѧ��, 2004,V30(05): 400-404
Han Zhuangzhi, Wang Tianmiao, Zhang Yuru, Liu Junchua.Selection of calculation model for contact sensing of robot hand using force/torque measurement[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2004,V30(05): 400-404
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