Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms," International Journal of Robotics Research, vol. 8, no. 2, pp. 44--61, 1989.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....to implement multirobot manipulation tasks. 1 Introduction Previous work on object manipulation by multiple robot mechanism can be categorized into three types (see Fig.1) The first type manipulation is the most popular one, specially in multiple finger or multiple arm manipulation [1] 2] 5][11][16] 22] 26] All robots are arranged so that the total robots system is grasping the object during the manipulation(Fig.1 (a) In this case, Form Closure or Force Closure condition should always be satisfied strictly. There are several research groups that have developed control strategies for ....

Nakamura Y., Nagai K., Yoshikawa T., Dynamics and Stability in Coordination of Multiple Robotic Mechanisms, Int. J. Robotics Research, Vol.8, no.2, pp.44-61, 1989.

....manipulating forces required by the task, while imposing constraints to prevent slip, is often referred to as the force distribution problem. This problem also occurs in other robot systems with closed kinematic chain, including legged locomotion systems and cooperating mainipulators (see, e.g. [61, 36, 43, 59, 97, 58, 62, 9]) The problem of determining the appropriate internal forces can be posed as an optimization problem. Different approaches including linear programming [36] pseudo inverse [39] and mathematical programming [36] have been proposed. An important property of the nonlinear constrained optimization ....

Nakamura, Y., Nagai, K., and Yoshikawa, T.: Dynamics and stability in coordination of multiple robotic systems. Int. J. Robotics Research, vol. 8, no. 2, pp. 44--61, 1989.

....while Trinkle [16] investigated the smallest of the normalized equilibrium finger forces. Other quality measures along this line include those proposed by Kerr and Roth [17] Chen, Walker and Cheatham [18] Bicchi [19] and Varma and Tasch [20] In related work, Nakamura, Nagai and Yoshikawa [21] considered the largest allowable dynamic perturbations to the contact point position that cause no slippage of the fingers relative to the object. The potentially important role played by compliance in many grasping and fixturing operations calls for the development of quality measures that take ....

Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms," Int. J. of Robotics Research, vol. 8, no. 2, pp. 44-- 59, 1989.

....in the contact frame affect the results of grasp analysis (which violates the usual assumption of isotropic Coulomb friction) 3) increasing the ac curacy of the linearized friction model increases the running time unacceptably for real time applications. Nonlinear programming approaches[15] have also been proposed for the grasping force optimization problem. However, current computing resources can only allow off line analysis. One major progress in the study of grasping force optimization was made by Buss, Hashimoto and Moore (BHM) 3] They made the important observation that the ....

Y. Nakamura, K. Nagai, and T. Yoshikawa. Dynamics and stability in coordination of multiple robotic mechanisms. IJRR, 8(2), 1989.

....role in the performance of slow cooperative manipulation tasks, it is true that only a full dynamical model can explain and clarify the structural properties of complex manipulation systems. Thus, dynamic manipulation has been considered to investigate grasp stability [3] 13] 14] 22] [25], 37] to study the dualities between series and parallel manipulators [40] and to address cooperative manipulability [9] 19] 1042 296X 98 10.00 1998 IEEE 242 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 14, NO. 2, APRIL 1998 Fig. 1. Six simple examples of robotic manipulators. B. ....

Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic systems," Int. J. Robot. Res., vol. 8, no. 2, pp. 44--61, Apr. 1989.

....by robot hands have been done by many researchers[1] Kerr and Roth [2] proposed to determine the optimal internal force as that with the minimum norm under an approximated frictional constraint. Nakamura et al. solve the problem as a nonlinear programming problem using Lagrange multipliers [3]. Fukuda et al. proposed a method to plan the grasping points and the forces by using Evolutionary Computation [4] In this paper, an evolutionary computation technique [6] 7] 8] is applied to the position force planning for grasping an object by multi fingered robot hand. The main feature of the ....

Y. Nakamura, K. Nagai, T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms, " The International Journal of Robotics Research, Vol. 8, No.2, pp. 44-61, 1989.

....(6) represents the contribution of the contact forces to the object s motion. The second term represents their contribution to the object s internal loading. The choice of c N and j significantly influences grasp stability but is not addressed here. For more details the reader should refer to [12]. A difficulty of local control in point contact manipulation is that it is not possible to infer the exact location of C i . Moreover, although the origin of C i can be determined easily for each manipulator (assuming a perfect point contact) the orientation of C i can not be computed locally. ....

Nakamura Y., Nagai K., Yoshikawa T., "Dynamics and Stability in Coordination of Multiple Robotic Mechanisms", The International Journal of Robotic Research, Vol 6, N 1, pp. 44-61, 1987

....this kind of task is particularly difficult to perform. It requires a very precise position and force control for each individual device. Failure to accurately control contact forces can lead to a violation of contact stability constraints (friction cone) and dropping the manipulated object [6]. A stability analysis (appendix A) and experimental results (section 3) are provided to verify the ability of the distributed impedance ap proach to realize multi robot point contact grasping tasks. Furthermore, freedom in selecting the orientation of each robot s end effector around the ....

.... Omega Gamma and j. The vector of grouped individual reference trajectories t x is the sum of an accompanying trajectory vector t x a and an additional trajectory vector Delta t x: t x = t x a Delta t x (9) t x a is derived according to the grasp geometry [6]: 8 : t x a = i t x a;1 T ; t x a;n T j T t x a;i = P i T i Omega T X r i j (10) Delta t x provides compensation for the object s dynamics and desired internal loading: 8 : Delta t x = Theta diag(k j ) Gamma1 t f t f = c W ( ....

Nakamura, Y., Nagai, K., Yoshikawa, T., "Dynamics and Stability in Coordination of Multiple Robotic Mechanisms", The international Journal of Robotic Research, Vol 8, N 2, pp. 44-61, April 1989

....is internal, but only forces as in (b) are controllable internal. manipulation tasks, it is true that only a full dynamical model can explain and clarify the structural properties of complex manipulation systems. Thus, dynamic manipulation has been considered to investigate grasp stability [13] [25], 22] 37] 3] 14] to study the dualities between series and parallel manipulators [40] and to address cooperative manipulability [19] 9] B. Contributions The purpose of this paper is to contribute to building a theory for a class of robotic manipulation systems that is general enough ....

Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic systems," Int. J. of Robotics Res., vol. 8, no. 2, pp. 44--61, Apr. 1989.

....modified grasp configurations. This approach cannot be generalized to 3D grasps without introducing an approximation of friction cones by pyramids, as will be discussed in section 3 of this paper. To our knowledge, the only exact force closure test on n finger, 3D grasps has been described by Nakamura et al. 1989]. The method described therein requires the solution of 12 constrained non linear programming problems. In the literature on grasping and closure analysis, little attention seems to have been payed to the Figure 2: An object constrained by three contact points. role of the end effector structure ....

....for reasonable approximations of general n contacts grasps. Figure 7: A 2D force closure problem and its equivalent form closure problem To our knowledge, the only method so far presented that investigates exactly the force closure property of 3 D, n contacts grasps, was proposed by Nakamura et al. 1989]. Their method can easily be extended to defective end effectors, provided that the basis of controllable internal forces E is used in place of the basis of the nullspace of G. The algorithm consists of the solution of 12 nonlinear optimization problems with unilateral constraints. Considering ....

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Nakamura, Y., Nagai, K., and Yoshikawa, T. 1989. Dynamics and Stability in Coordination of Multiple Robotic Systems. Int. J. of Robotic Res., vol. 8, no. 2, pp. 44--61.

....of their kinematics, statics, and dynamics. Amongst the main contributions, one can be referred to the work of Nakano et al. 20] Mason [15] and Uchiyama and Dauchez [24] for cooperating multiple arms; Salisbury [21] Kerr and Roth [11] Li, Hsu and Sastry [13] and Nakamura, Nagai and Yoshikawa [19] for dextrous hands; and to the work of McGhee and Orin [17] Waldron [26] and Klein and Kittivatcharapong [12] for legged vehicles. Equipping multiple manipulation systems with the ability to use all of their links for contacting and manipulating objects is one way of further enhancing their ....

....columns form a basis of the nullspace of G (noted with N (G) The coefficient vector x 2 IR h parameterizes the homogeneous part of the solution (2) for any choice of x, a vector of contact forces results that equilibrates the desired load. Most known grasp optimization techniques (see e.g. [19]) can be formulated by defining a cost function V (x) and constraint functions g i (x) as Find x such that V ( x; w) is minimum; g i ( x) 0. The cost and constraint functions usually are designed so as to realize the goals of avoiding contact slippage and minimizing consumption of power in ....

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Nakamura, Y., Nagai, K., and Yoshikawa, T.: "Dynamics and Stability in Coordination of Multiple Robotic Systems", International Journal of Robotic Research, vol.8, no.2, April 1989.

....robotics problems, robot hands must perform delicate and precise operations that include grasping and smoothly lifting an object. Robotics research has addressed many components of this dextrous manipulation problem. These issues include multi arm or finger coordination for manipulating objects [17], 26] 27] optimally distributing the load among different arms [28] decomposing the grasp force into equilibrating and interacting force fields [13] and allowing contact motion while manipulating an object [4] 22] While efficient dextrous manipulation requires designing a controller for each ....

Y. Nakamura, K. Nagai, and T. Yoshikawa. Dynamics and stability in coordination of multiple robotic mechanisms. International Journal of Robotics Research, 8(2):44-- 61, 1989.

....and Zheng 1993] analyzed the dynamics of a hybridcontrolscheme for manipulatingobjects with multiple manipulators, possibly in the presence of stationary environmental constraints. These researchers implemented a two finger system for rolling a part against a constraint surface. In related work, [Nakamura, Nagai, and Yoshikawa 1989]analyzed the stability of multi robot manipulation, focusing in particular on the stability of frictional contact. Yokokohji, Yu, Nakasu, and Yoshikawa 1993] again looked at the problem of manipulating a constrained object with two fingers, in order to explore the differences between quasi static ....

Nakamura, Y., Nagai, K., and Yoshikawa, T. 1989. Dynamics and Stability in Coordination of Multiple Robotic Mechanisms. International Journal of Robotics Research. 8(2):44--61.

....closure grasps include [Nguyen, 1986] Nguyen, Figure 2: Force closure depends upon the end effector. 1988] Park and Starr, 1992] Ponce et al. 1993] The analysis of force closure has been considered among others by Nguyen [1988] Ferrari and Canny [1992] Chen and Burdick [1993] and Nakamura et al. 1989]. Few authors in the literature payed attention to the relations between grasping and the endeffector structure and kinematics. Among those who did, are Trinkle et al. 1987] Waldron et al. 1989] Pollard and Lozano Perez [1990] and Hunt et al. 1991] To explain why the endeffector kinematic ....

.... problem is a common problem with other robotic areas, as e.g. legged locomotion and cooperating manipulators, and has attracted a very large attention in the past few years, mostly with regard to non defective systems (see e.g. Orin and Oh, 1981] Kerr and Roth, 1986] Li et al. 1989] [Nakamura et al. 1989], Walker et al. 1991] Joh and Lipkin, 1991] Nagai and Yoshikawa, 1993] Panagiotopoulos and Al Fahed, 1994] Buss et al. 1995] The author pointed out that in defective systems, i.e. systems whose jacobian matrix is not full row rank, it may not be actually possible to choose grasping ....

Nakamura, Y., Nagai, K., and Yoshikawa, T.: "Dynamics and stability in coordination of multiple robotic systems", Int. J. of Robotic Res., vol. 8, no. 2, pp. 44--61, 1989.

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Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms," International Journal of Robotics Research, vol. 8, no. 2, pp. 44--61, 1989.

No context found.

Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms," Int. Journal of Robotics Research, vol. 8, no. 2, pp. 44--61, 1989.

No context found.

Nakamura, Y., Nagai, K., and Yoshikawa, T. Dynamics and stability in coordination of multiple robotic systems. Int. J. Robotics Research, vol. 8, no. 2, pp. 44--61, 1989.

No context found.

Y. Nakamura, K. Nagai, and T. Yoshikawa, "Dynamics and stability in coordination of multiple robotic mechanisms," Int. J. Robot. Res., vol. 8, no. 2, pp. 44--61, 1989.

No context found.

Y. Nakamura, K. Nagai, and T. Yoshikawa. Dynamics and stability in coordination of multiple robotic mechanisms. International Journal of Robotics Research, 8(2):44--61, 1989.

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