An Active Sensing-based Control Algorithm for the Scrollic Gripper
Autor(a) principal: | |
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Data de Publicação: | 1998 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Journal of the Brazilian Computer Society |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100006 |
Resumo: | This paper proposes an algorithm for the scrollic (synchronously closing with rolling constraints) gripper based on active sensing about the displacement of its joints, in order to control the trajectory of objects grasped outside the workspace. The gripper has fingers composed of two cylinders in parallel, the translation and rotation of which are independently driven. This characteristic gives a dynamic decoupled behavior to the gripper, and makes it compliant to open during a close motion, or to rotate against the actuated direction, when forced by the inwards movement of the object. The algorithm presents a high level of tolerance concerning uncertainties about the object's position, weight and shape. The kinematics, design concept and control algorithm of the gripper are discussed in detail. |
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Journal of the Brazilian Computer Society |
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An Active Sensing-based Control Algorithm for the Scrollic GripperDexterous manipulationactive sensingrobot handcontrol algortithmsThis paper proposes an algorithm for the scrollic (synchronously closing with rolling constraints) gripper based on active sensing about the displacement of its joints, in order to control the trajectory of objects grasped outside the workspace. The gripper has fingers composed of two cylinders in parallel, the translation and rotation of which are independently driven. This characteristic gives a dynamic decoupled behavior to the gripper, and makes it compliant to open during a close motion, or to rotate against the actuated direction, when forced by the inwards movement of the object. The algorithm presents a high level of tolerance concerning uncertainties about the object's position, weight and shape. The kinematics, design concept and control algorithm of the gripper are discussed in detail.Sociedade Brasileira de Computação1998-04-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100006Journal of the Brazilian Computer Society v.4 n.3 1998reponame:Journal of the Brazilian Computer Societyinstname:Sociedade Brasileira de Computação (SBC)instacron:UFRGS10.1590/S0104-65001998000100006info:eu-repo/semantics/openAccessRosa,Paulo Fernando F.Okada,Tokujieng1998-10-08T00:00:00Zoai:scielo:S0104-65001998000100006Revistahttps://journal-bcs.springeropen.com/PUBhttps://old.scielo.br/oai/scielo-oai.phpjbcs@icmc.sc.usp.br1678-48040104-6500opendoar:1998-10-08T00:00Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC)false |
dc.title.none.fl_str_mv |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
title |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
spellingShingle |
An Active Sensing-based Control Algorithm for the Scrollic Gripper Rosa,Paulo Fernando F. Dexterous manipulation active sensing robot hand control algortithms |
title_short |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
title_full |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
title_fullStr |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
title_full_unstemmed |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
title_sort |
An Active Sensing-based Control Algorithm for the Scrollic Gripper |
author |
Rosa,Paulo Fernando F. |
author_facet |
Rosa,Paulo Fernando F. Okada,Tokuji |
author_role |
author |
author2 |
Okada,Tokuji |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Rosa,Paulo Fernando F. Okada,Tokuji |
dc.subject.por.fl_str_mv |
Dexterous manipulation active sensing robot hand control algortithms |
topic |
Dexterous manipulation active sensing robot hand control algortithms |
description |
This paper proposes an algorithm for the scrollic (synchronously closing with rolling constraints) gripper based on active sensing about the displacement of its joints, in order to control the trajectory of objects grasped outside the workspace. The gripper has fingers composed of two cylinders in parallel, the translation and rotation of which are independently driven. This characteristic gives a dynamic decoupled behavior to the gripper, and makes it compliant to open during a close motion, or to rotate against the actuated direction, when forced by the inwards movement of the object. The algorithm presents a high level of tolerance concerning uncertainties about the object's position, weight and shape. The kinematics, design concept and control algorithm of the gripper are discussed in detail. |
publishDate |
1998 |
dc.date.none.fl_str_mv |
1998-04-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100006 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001998000100006 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/S0104-65001998000100006 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Sociedade Brasileira de Computação |
publisher.none.fl_str_mv |
Sociedade Brasileira de Computação |
dc.source.none.fl_str_mv |
Journal of the Brazilian Computer Society v.4 n.3 1998 reponame:Journal of the Brazilian Computer Society instname:Sociedade Brasileira de Computação (SBC) instacron:UFRGS |
instname_str |
Sociedade Brasileira de Computação (SBC) |
instacron_str |
UFRGS |
institution |
UFRGS |
reponame_str |
Journal of the Brazilian Computer Society |
collection |
Journal of the Brazilian Computer Society |
repository.name.fl_str_mv |
Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC) |
repository.mail.fl_str_mv |
jbcs@icmc.sc.usp.br |
_version_ |
1754734669505495040 |