Han Zhuangzhi, Wang Tianmiao, Zhang Yuru, et al. Selection of calculation model for contact sensing of robot hand using force/torque measurement[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(05): 400-404. (in Chinese)
Citation: Han Zhuangzhi, Wang Tianmiao, Zhang Yuru, et al. Selection of calculation model for contact sensing of robot hand using force/torque measurement[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(05): 400-404. (in Chinese)

Selection of calculation model for contact sensing of robot hand using force/torque measurement

  • Received Date: 31 Dec 2002
  • Publish Date: 31 May 2004
  • 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.

     

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