Dynamic force distribution in multifingered grasping by decomposition and positive combination
This paper presents a general algorithm for computing the optimal dynamic force distribution in multifingered grasping. It consists of two phases. In the offline phase, we select a spanning set for the required dynamic resultant wrench and find a corresponding spanning set for the total contact forc...
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| Veröffentlicht in: | IEEE transactions on robotics 2005-08, Vol.21 (4), p.718-726 |
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| container_title | IEEE transactions on robotics |
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| creator | YU ZHENG QIAN, Wen-Han |
| description | This paper presents a general algorithm for computing the optimal dynamic force distribution in multifingered grasping. It consists of two phases. In the offline phase, we select a spanning set for the required dynamic resultant wrench and find a corresponding spanning set for the total contact force. Then, in the online phase, the total contact force is obtained by decomposition of the resultant wrench into the former spanning set and a coefficient vector followed by positive combination of the latter spanning set with the vector. To make the online computation as simple as possible, iterative operation is executed offline and only arithmetic operation is employed online. To improve the grasping quality, the two spanning sets are selected elaborately. |
| doi_str_mv | 10.1109/TRO.2005.847609 |
| format | Article |
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It consists of two phases. In the offline phase, we select a spanning set for the required dynamic resultant wrench and find a corresponding spanning set for the total contact force. Then, in the online phase, the total contact force is obtained by decomposition of the resultant wrench into the former spanning set and a coefficient vector followed by positive combination of the latter spanning set with the vector. To make the online computation as simple as possible, iterative operation is executed offline and only arithmetic operation is employed online. To improve the grasping quality, the two spanning sets are selected elaborately.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2005.847609</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Algorithms ; Applied sciences ; Arithmetic ; Computer science; control theory; systems ; Contact constraint ; Control theory. Systems ; Design for disassembly ; dexterous robot hand ; Distributed computing ; Drives ; dynamic force distribution (DFD) ; Dynamic programming ; Exact sciences and technology ; Fingers ; Flexible printed circuits ; Friction ; Grasping ; Linkage mechanisms, cams ; Manipulation ; Mechanical engineering. Machine design ; multifingered grasps ; Null space ; optimal contact force ; Orbital robotics ; Robotics ; Robots</subject><ispartof>IEEE transactions on robotics, 2005-08, Vol.21 (4), p.718-726</ispartof><rights>2006 INIST-CNRS</rights><rights>Copyright Institute of Electrical and Electronics Engineers, Inc. (IEEE) Aug 2005</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c380t-1bf4765fa31dafbc6c8ac27c104d23d37c09103067cedbbe47a816a42eec01343</citedby><cites>FETCH-LOGICAL-c380t-1bf4765fa31dafbc6c8ac27c104d23d37c09103067cedbbe47a816a42eec01343</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1492487$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27903,27904,54736</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1492487$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=17003562$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>YU ZHENG</creatorcontrib><creatorcontrib>QIAN, Wen-Han</creatorcontrib><title>Dynamic force distribution in multifingered grasping by decomposition and positive combination</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>This paper presents a general algorithm for computing the optimal dynamic force distribution in multifingered grasping. It consists of two phases. In the offline phase, we select a spanning set for the required dynamic resultant wrench and find a corresponding spanning set for the total contact force. Then, in the online phase, the total contact force is obtained by decomposition of the resultant wrench into the former spanning set and a coefficient vector followed by positive combination of the latter spanning set with the vector. To make the online computation as simple as possible, iterative operation is executed offline and only arithmetic operation is employed online. To improve the grasping quality, the two spanning sets are selected elaborately.</description><subject>Algorithms</subject><subject>Applied sciences</subject><subject>Arithmetic</subject><subject>Computer science; control theory; systems</subject><subject>Contact constraint</subject><subject>Control theory. Systems</subject><subject>Design for disassembly</subject><subject>dexterous robot hand</subject><subject>Distributed computing</subject><subject>Drives</subject><subject>dynamic force distribution (DFD)</subject><subject>Dynamic programming</subject><subject>Exact sciences and technology</subject><subject>Fingers</subject><subject>Flexible printed circuits</subject><subject>Friction</subject><subject>Grasping</subject><subject>Linkage mechanisms, cams</subject><subject>Manipulation</subject><subject>Mechanical engineering. Machine design</subject><subject>multifingered grasps</subject><subject>Null space</subject><subject>optimal contact force</subject><subject>Orbital robotics</subject><subject>Robotics</subject><subject>Robots</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2005</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqNkc1r3DAQxU1poWnScw-9iEJz82ZGki3pWNKPFAKBkl4rZHkcFGx5K9mB_e-jjQOBnnqaGd7vDTO8qvqAsEMEc3H762bHAZqdlqoF86o6QSOxBtnq16VvGl4LMPpt9S7newAuDYiT6s_XQ3RT8GyYkyfWh7yk0K1LmCMLkU3ruIQhxDtK1LO75PK-DKw7sJ78PO3nHJ5QF3u2DQ_EitCF6I7CWfVmcGOm98_1tPr9_dvt5VV9ffPj5-WX69oLDUuN3VCObgYnsHdD51uvnefKI8iei14oDwZBQKs89V1HUjmNrZOcyAMKKU6r823vPs1_V8qLnUL2NI4u0rxmy7U2plHiP0BA1SAW8NM_4P28pliesByw5YjyCF1skE9zzokGu09hculgEewxFVtSscdU7JZKcXx-Xuuyd-OQXPQhv9gUgGhaXriPGxeI6EWWhkutxCOgJJas</recordid><startdate>20050801</startdate><enddate>20050801</enddate><creator>YU ZHENG</creator><creator>QIAN, Wen-Han</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Systems</topic><topic>Design for disassembly</topic><topic>dexterous robot hand</topic><topic>Distributed computing</topic><topic>Drives</topic><topic>dynamic force distribution (DFD)</topic><topic>Dynamic programming</topic><topic>Exact sciences and technology</topic><topic>Fingers</topic><topic>Flexible printed circuits</topic><topic>Friction</topic><topic>Grasping</topic><topic>Linkage mechanisms, cams</topic><topic>Manipulation</topic><topic>Mechanical engineering. Machine design</topic><topic>multifingered grasps</topic><topic>Null space</topic><topic>optimal contact force</topic><topic>Orbital robotics</topic><topic>Robotics</topic><topic>Robots</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>YU ZHENG</creatorcontrib><creatorcontrib>QIAN, Wen-Han</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Aerospace Database</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>YU ZHENG</au><au>QIAN, Wen-Han</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Dynamic force distribution in multifingered grasping by decomposition and positive combination</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2005-08-01</date><risdate>2005</risdate><volume>21</volume><issue>4</issue><spage>718</spage><epage>726</epage><pages>718-726</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>This paper presents a general algorithm for computing the optimal dynamic force distribution in multifingered grasping. It consists of two phases. In the offline phase, we select a spanning set for the required dynamic resultant wrench and find a corresponding spanning set for the total contact force. Then, in the online phase, the total contact force is obtained by decomposition of the resultant wrench into the former spanning set and a coefficient vector followed by positive combination of the latter spanning set with the vector. To make the online computation as simple as possible, iterative operation is executed offline and only arithmetic operation is employed online. To improve the grasping quality, the two spanning sets are selected elaborately.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2005.847609</doi><tpages>9</tpages></addata></record> |
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| ispartof | IEEE transactions on robotics, 2005-08, Vol.21 (4), p.718-726 |
| issn | 1552-3098 1941-0468 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Algorithms Applied sciences Arithmetic Computer science control theory systems Contact constraint Control theory. Systems Design for disassembly dexterous robot hand Distributed computing Drives dynamic force distribution (DFD) Dynamic programming Exact sciences and technology Fingers Flexible printed circuits Friction Grasping Linkage mechanisms, cams Manipulation Mechanical engineering. Machine design multifingered grasps Null space optimal contact force Orbital robotics Robotics Robots |
| title | Dynamic force distribution in multifingered grasping by decomposition and positive combination |
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