Analysis of Internal Force in Robotic Contact Tasks.

Analysis of object-stability and internal force in robotic contact tasks

Robotic Grasp Optimization from Contact Force Analysis

The ability to quantitatively assess grasp performance is essential both in off-line planning of grasps for robotic manipulation as in evaluating on-line executed grasps. Until now most existing metrics rely on force-closure tests that are limited in scope. We propose a grasp quality metric that provides sensible performance criteria even in non-force-closure grasps. It is based in two improvem...

Robotic Assembly and Contact Force Control

Modern industrial robots are traditionally programmed to follow desired trajectories, with the only feedback coming from the internal position/angle sensors in the joints. The robots are in general very accurate in tracking the desired motion, and they have become indispensable in many applications, such as spot welding and painting in the automotive industry. In more complex tasks, such as phy...

On the Eeect of Compliance in Robotic Contact Tasks Problem

Generally, in most dexterous manipulation tasks the manipulator undergoes a transition from free motion to contact connguration with its environment. An example can be the exploratory unconstrained motions of the force guided manipulator for establishing contact with an environment. This transition usually involves the impact stage. The impact usually results in an unstable performance of the c...

Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks

Dynamics simulation plays a key role in the design, verification, and operation planning of the International Space Station manipulator systems because of the difficulties of ground-based physical tests with large flexible robotic systems. Modeling of contact dynamics has become essential to dynamics simulation of space station robotic operations (such as the assembly and maintenance of the sta...