The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
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The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Cet article concerne l'analyse de la dynamique non linéaire sous des contraintes géométriques qui expriment les mouvements de pincement d'une paire de doigts à plusieurs degrés de liberté avec des pointes souples. La dynamique d'une telle paire de doigts mous peut être exprimée par un ensemble d'équations différentielles non linéaires complexes avec des contraintes algébriques, même si le mouvement est contraint dans un plan. Cependant, l'analyse de passivité montre qu'une saisie dynamique stable (pincement) peut être réalisée au moyen d'une entrée anticipée de la force interne souhaitée avec des coefficients composés d'éléments de matrices jacobiennes plus une rétroaction de la différence entre les moments de rotation exercés aux deux niveaux. côtés de l’objet. Il est montré dans le cas d'une paire de doigts à 2 ddl et 3 ddl (correspondant à une paire de pouce et d'index) qu'un principe de superposition linéaire est applicable à la conception de signaux de feedback supplémentaires permettant de contrôler simultanément la posture (angle de rotation). et la position du centre de masse de l'objet, bien que la dynamique soit non linéaire. Une condition suffisante pour l'applicabilité du principe de superposition est discutée et donnée comme condition pour une résolution stationnaire unique du mouvement global aux mouvements élémentaires (préhension stable, contrôle de rotation, x et y contrôle des coordonnées). Le principe implique qu'un mouvement habile peut être résolu en certains mouvements élémentaires que l'homme peut apprendre séparément et indépendamment.
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Suguru ARIMOTO, Pham Thuc Anh NGUYEN, "Principle of Superposition for Realizing Dexterous Pinching Motions of a Pair of Robot Fingers with Soft-Tips" in IEICE TRANSACTIONS on Fundamentals,
vol. E84-A, no. 1, pp. 39-47, January 2001, doi: .
Abstract: This paper is concerned with analysis of nonlinear dynamics under geometric constraints that express pinching motions of a pair of multi-degrees of freedom fingers with soft tips. The dynamics of such a pair of soft fingers can be expressed by a set of complicated nonlinear differential equations with algebraic constraints, even if the motion is constrained in a plane. However, it is shown from the passivity analysis that dynamic stable grasping (pinching) can be realized by means of a feedforward input of desired internal force with coefficients composed of elements of Jacobian matrices plus a feedback of the difference between moments of rotation exerted at both sides of the object. It is shown in the case of a pair of 2 d.o.f. and 3 d.o.f. fingers (corresponding to a pair of thumb and index fingers) that a principle of linear superposition is applicable to design of additional feedback signals for controlling simultaneously the posture (rotational angle) and position of the mass center of the object, though the dynamics are nonlinear. A sufficient condition for applicability of the principle of superposition is discussed and given as a condition for unique stationary resolution of the overall motion to elementary motions (stable grasping, rotation control, x and y coordinates control). The principle implies that a skilled motion can be resolved into some of elementary motions which human can learn separately and independently.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e84-a_1_39/_p
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@ARTICLE{e84-a_1_39,
author={Suguru ARIMOTO, Pham Thuc Anh NGUYEN, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Principle of Superposition for Realizing Dexterous Pinching Motions of a Pair of Robot Fingers with Soft-Tips},
year={2001},
volume={E84-A},
number={1},
pages={39-47},
abstract={This paper is concerned with analysis of nonlinear dynamics under geometric constraints that express pinching motions of a pair of multi-degrees of freedom fingers with soft tips. The dynamics of such a pair of soft fingers can be expressed by a set of complicated nonlinear differential equations with algebraic constraints, even if the motion is constrained in a plane. However, it is shown from the passivity analysis that dynamic stable grasping (pinching) can be realized by means of a feedforward input of desired internal force with coefficients composed of elements of Jacobian matrices plus a feedback of the difference between moments of rotation exerted at both sides of the object. It is shown in the case of a pair of 2 d.o.f. and 3 d.o.f. fingers (corresponding to a pair of thumb and index fingers) that a principle of linear superposition is applicable to design of additional feedback signals for controlling simultaneously the posture (rotational angle) and position of the mass center of the object, though the dynamics are nonlinear. A sufficient condition for applicability of the principle of superposition is discussed and given as a condition for unique stationary resolution of the overall motion to elementary motions (stable grasping, rotation control, x and y coordinates control). The principle implies that a skilled motion can be resolved into some of elementary motions which human can learn separately and independently.},
keywords={},
doi={},
ISSN={},
month={January},}
Copier
TY - JOUR
TI - Principle of Superposition for Realizing Dexterous Pinching Motions of a Pair of Robot Fingers with Soft-Tips
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 39
EP - 47
AU - Suguru ARIMOTO
AU - Pham Thuc Anh NGUYEN
PY - 2001
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E84-A
IS - 1
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - January 2001
AB - This paper is concerned with analysis of nonlinear dynamics under geometric constraints that express pinching motions of a pair of multi-degrees of freedom fingers with soft tips. The dynamics of such a pair of soft fingers can be expressed by a set of complicated nonlinear differential equations with algebraic constraints, even if the motion is constrained in a plane. However, it is shown from the passivity analysis that dynamic stable grasping (pinching) can be realized by means of a feedforward input of desired internal force with coefficients composed of elements of Jacobian matrices plus a feedback of the difference between moments of rotation exerted at both sides of the object. It is shown in the case of a pair of 2 d.o.f. and 3 d.o.f. fingers (corresponding to a pair of thumb and index fingers) that a principle of linear superposition is applicable to design of additional feedback signals for controlling simultaneously the posture (rotational angle) and position of the mass center of the object, though the dynamics are nonlinear. A sufficient condition for applicability of the principle of superposition is discussed and given as a condition for unique stationary resolution of the overall motion to elementary motions (stable grasping, rotation control, x and y coordinates control). The principle implies that a skilled motion can be resolved into some of elementary motions which human can learn separately and independently.
ER -