A LINEAR COMPLEMENTARITY APPROACH TO THE ARTICULATED MULTIFINGERED FRICTION GRIPPER

被引：0
|
作者：
ALFAHED, AM [1 ]
PANAGIOTOPOULOS, PD
机构：
[1] ARISTOTELIAN UNIV SALONIKA, SCH TECHNOL, GR-54006 SALONIKA, GREECE
[2] RHEIN WESTFAL TH AACHEN, FAC MATH & PHYS, W-5100 AACHEN, GERMANY
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1993年 / 10卷 / 06期
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D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this article, the problem of grasping by an articulated multifingered gripper is investigated. The fingers' joints are idealized by angular and linear springs for the revolute and prismatic joints, respectively. The method, which was developed here, considers the cases of both hard and soft fingers. The unilateral frictional contact problem for the gripper-object system is formulated as a linear complementarity problem. Numerical examples illustrating the theory are given. (C) 1993 John Wiley & Sons, Inc.
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页码：871 / 887
页数：17
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