On the dynamic stability of grasping

被引：50
|
作者：
Xiong, CH [1 ]
Li, YF
Ding, D
Xiong, YL
机构：
[1] City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Peoples R China
[2] Huazhong Univ Sci & Technol, Sch Mech & Sci & Engn, Wuhan 430074, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1999年 / 18卷 / 09期
关键词：
D O I：
10.1177/02783649922066682
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, we build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, we determine the conditions associated with the dynamic stability and discuss the effects of various factors on the grasp stability. A quantitative measure for evaluating grasps is then presented. Finally, the effectiveness of the proposed theory is verified via examples.
引用
收藏
页码：951 / 958
页数：8
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