Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 13 Issue 8
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- Pages.128-138
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- 1996
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Characterization and Control of Grasp Stiffness Based on Virtual Stiffness Model
가상 강성 모델에 기초한 파지 강성 해석 및 파지 제어
- Choi, Hyouk-Ryeol ;
- Chung, Wan-Kyun ;
- Youm, Youngil
- 최혁렬 (성균관대학교 기계공학부) ;
- 정완균 (포항공과대학교 기계공학과) ;
- 염영일 (포항공과대학교 기계공학과)
- Published : 1996.08.01
Abstract
Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.
Keywords