摘要
The grasp stiffness and joint stiffness for the grasping system of amulti-fingered dextrous hand are characterized, and the expressions are developed forthe potential energy, kinetic energy and the dissipation function in a grasp. Using aLagrangian formula, the small displacement disturbance equation for a multi-fingeredgrasping system is introduced and the equation is solved by modal analysis. Based onthis work, an optimum grasping planning is formulated as a non-linear programmingproblem so that the grasping system could have ideal asmptotical stability. An examplefor the BH-2 anthropoid hand grasping a cylinder-object demonstrates theapplicability and effectiveness of the method.
The grasp stiffness and joint stiffness for the grasping system of amulti-fingered dextrous hand are characterized, and the expressions are developed forthe potential energy, kinetic energy and the dissipation function in a grasp. Using aLagrangian formula, the small displacement disturbance equation for a multi-fingeredgrasping system is introduced and the equation is solved by modal analysis. Based onthis work, an optimum grasping planning is formulated as a non-linear programmingproblem so that the grasping system could have ideal asmptotical stability. An examplefor the BH-2 anthropoid hand grasping a cylinder-object demonstrates theapplicability and effectiveness of the method.
