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Mathematical Studying in Control of Grasping
International Journal of Science and Qualitative Analysis
Volume 2, Issue 1, July 2016, Pages: 1-13
Received: Mar. 15, 2016; Accepted: Jun. 3, 2016; Published: Jul. 5, 2016
Authors
Eman Mirzaieepoor, Department of Mechanical Engineering, Amirkabir University, Tehran, Iran
Pezhman Moradi, Department of Mechanical Engineering, Jahrom University, Jahrom, Iran
Mohammad Mehdi Khoddami, Department of Mechanical Engineering, Jahrom University, Jahrom, Iran
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Abstract
The main purpose of developing of mechanical hands is to give robots the knack in order to grasp objects of varying geometric and physical properties. The complete model is a coupling of models which describe contact behavior with generally using the models of rigid-body kinematics and dynamics. The contact model fundamentally come down to the choice of components of contact force and moment which are transmitted through each contact. Mathematical properties of the complete model obviously bring about two primary grasp types whose physical interpretations provide insight for grasping and manipulation planning. A grasp with complete restraint avoids loss of contact and therefore is so secure. As will be mentioned, two primary limitation properties are force closure and form closure. A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough. It should be noted that the main difference between force closure and also form closure grasps is the latter’s reliance on contact friction.
Keywords
Computational Linear algebra, Linear Kinematic, Linear Dynamic, Grasping, Rigid-body Models, Form Closure
Eman Mirzaieepoor, Mohammad Sadegh Hassanli, Pezhman Moradi, Mohammad Mehdi Khoddami, Mathematical Studying in Control of Grasping, International Journal of Science and Qualitative Analysis. Vol. 2, No. 1, 2016, pp. 1-13. doi: 10.11648/j.ijsqa.20160201.11
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