Suboptimal algorithms for force distribution in multifingered grippers
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چکیده
منابع مشابه
Sub-optimal algorithms for force distribution in multifingered grippers
The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The system is statically indeterminate and an optimal solution for this problem is desired for force control. A fast and efficient sub-optimal method for computing the grasping forces is presented. This method is bas...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1989
ISSN: 1042-296X
DOI: 10.1109/70.88063