Inoue / Hirai Mechanics and Control of Soft-fingered Manipulation

1. Auflage 2008
ISBN: 978-1-84800-981-3
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 245 Seiten

'Mechanics and Control of Soft-fingered Manipulation' introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally, revealing the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.

Takahiro Inoue received his MSc and PhD degrees from Ritsumeikan University, Japan. He has received funding from the Japan Society of the Promotion of Science and his current research interests include soft-fingered manipulation, soft object modeling, and MEMS technology.Shinichi Hirai received his BSc, MSc and doctoral degrees from Kyoto University. He is now a professor in the Department of Robotics at Ritsumeikan University. His previous positions include visiting researcher at Massachusetts Institute of Technology and assistant professor at Osaka University. His current research interests are the modeling and control of deformable structures, real-time computer vision, and soft-fingered manipulation.

Autoren/Hrsg.

Inoue, Takahiro

Hirai, Shinichi

Inhaltsverzeichnis

1;Foreword;5
2;Preface;6
3;Contents;9
4;Acronyms;13
5;Notation;14
6;Introduction;16
6.1;1.1 Goal;16
6.2;1.2 A Brief History of Articulated Robot Hands;17
6.3;1.3 Overview;26
7;Observation of Soft-fingered Grasping and Manipulation;27
7.1;2.1 Introduction;27
7.2;2.2 Object Pinching by a Pair of 1-DOF Fingers;28
7.3;2.3 Rotation of a Pinched Object by External Force;30
7.4;2.4 Concluding Remarks;31
8;Elastic Model of a Deformable Fingertip;32
8.1;3.1 Introduction;32
8.2;3.2 Static Elastic Model of a Hemispherical Soft Fingertip;34
8.3;3.3 Comparison with Hertzian Contact;40
8.4;3.4 Measurement of Young’s Modulus;41
8.5;3.5 Compression Test;42
8.6;3.6 Concluding Remarks;45
9;Fingertip Model with Tangential Deformation;46
9.1;4.1 Introduction;46
9.2;4.2 Two-dimensional Elastic Energy Model;47
9.3;4.3 Formulation of Geometric Constraints;52
9.4;4.4 Concluding Remarks;56
10;Variational Formulations in Mechanics;57
10.1;5.1 Introduction;57
10.2;5.2 Variational Principles;57
10.3;5.3 Numerical Optimization of Energy Functions;63
10.4;5.4 Numerical Integration of Equations of Motion;72
10.5;5.5 Concluding Remarks;82
11;Statics of Soft-fingered Grasping and Manipulation;83
11.1;6.1 Introduction;83
11.2;6.2 Static Analysis Based on Force/Moment Equilibrium;83
11.3;6.3 Simulation;84
11.4;6.4 Experiments;90
11.5;6.5 Concluding Remarks;93
12;Dynamics of Soft-fingered Grasping and Manipulation;94
12.1;7.1 Introduction;94
12.2;7.2 Dynamics of Soft-fingered Grasping and Manipulation;94
12.3;7.3 Simulation of Soft-fingered Grasping and Manipulation;97
12.4;7.4 Simulation Results;102
12.5;7.5 Experimental Results;106
12.6;7.6 Discussion;109
12.7;7.7 Conclusion and Research Perspective;109
13;Control of Soft-fingered Grasping and Manipulation;111
13.1;8.1 Introduction;111
13.2;8.2 Equations of Motion of the Two-fingered Hand;112
13.3;8.3 Simulations I: Posture Control of a Grasped Object;113
13.4;8.4 Simulations II: Responses for Time Delay;123
13.5;8.5 Experiments I: Posture Control of a Grasped Object;128
13.6;8.6 Experiments II: Responses for Time Delay;134
13.7;8.7 Concluding Remarks;142
14;Geometric and Material Nonlinear Elastic Model;144
14.1;9.1 Introduction;144
14.2;9.2 Hertzian Contact and Kao’s Elastic Model;144
14.3;9.3 Identification of Nonlinear Young’s Modulus;145
14.4;9.4 Comparison with Hertzian Contact;147
14.5;9.5 Force Comparison;148
14.6;9.6 Concluding Remarks;150
15;Non-Jacobian Control of Robotic Pinch Tasks;151
15.1;10.1 Introduction;151
15.2;10.2 Kinematic Thumb Models in Previous Studies;152
15.3;10.3 Equations of Motion;155
15.4;10.4 Simulations;157
15.5;10.5 Observations and Discussions;189
15.6;10.6 Concluding Remarks;191
16;Three-dimensional Grasping and Manipulation;192
16.1;11.1 Introduction;192
16.2;11.2 Quaternions;192
16.3;11.3 Spatial Geometric Constraints Between an Object and a Fingertip;199
16.4;11.4 Potential Energy of a Fingertip in Three- dimensional Grasping;204
16.5;11.5 Grasping and Manipulation by Three 1-DOF Fingers;208
16.6;11.6 Concluding Remarks;224
17;Conclusions;226
17.1;12.1 Main Contribution;226
17.2;12.2 Future Work;228
18;Static Modeling of Fingertips;229
18.1;A.1 Contact Plane Formula;229
18.2;A.2 Spring Constant Formulation;229
18.3;A.3 Coordinate Conversion to Derive Fingertip Stiffness;230
18.4;A.4 Approximation Method for a Nonlinear Curve;232
19;Three-dimensional Modeling of Fingertips;234
19.1;B.1 Derivatives of Angular Velocity Matrix;234
19.2;B.2 Bilinear Form of the Outer Product Matrix;235
19.3;B.3 Derivatives of Relative Angle with Respect to Quaternion Elements;236
19.4;B.4 Derivatives of Relative Angle with Respect to Finger Angle;237
19.5;B.5 Derivative of the Arctangent Function;238
20;References;240
21;Index;247