Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand
Nobuharu Mimura* and Yasuyuki Funahashi
*Toyota Central Rsearch & Development Laboratories, Inc.
41-4, Nagakute-cho, Aichi 480-11 , Japan
Nagoya Institute of Technology, Gokisho-cho, Showa-ku, Nagoya, Aichi 466, Japan
Unknown forced and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system can be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.