...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A Slip Detection and Correction Strategy for Precision Robot Grasping
【24h】

A Slip Detection and Correction Strategy for Precision Robot Grasping

机译：精密机器人抓取的滑移检测与校正策略

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a grasp force regulation strategy for precision grasps. The strategy makes no assumptions about object properties and surface characteristics, and can be used with a wide range of grippers. It has two components, a slip signal detector that computes the magnitude of slip and a grasping force set point generator that acts on the detector's output. The force set point generator is designed to ensure that slip is eliminated without using excessive force. This is particularly important in several situations like grasping fragile objects or in-hand manipulation of thin small objects. Several experiments were conducted to simulate various grasping scenarios with different objects. Results show that the strategy was very successful in dealing with uncertainty in object mass, surface characteristics, or rigidity. The strategy is also insensitive to robot motion.
机译：本文提出了一种用于精确抓握的抓握力调节策略。该策略不对物体的特性和表面特性做任何假设，并且可以与多种抓手一起使用。它具有两个部分，一个用于计算打滑幅度的打滑信号检测器，以及一个作用在检测器输出上的抓握力设定点生成器。力设定值发生器的设计可确保在不使用过多力的情况下消除滑差。这在几种情况下尤其重要，例如抓住易碎物体或对细小物体进行手工操作。进行了一些实验，以模拟具有不同对象的各种抓握场景。结果表明，该策略在处理物体质量，表面特性或刚度方面的不确定性方面非常成功。该策略对机器人运动也不敏感。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号