Implementing a force strategy for object re-orientation

摘要: This paper describes a method to reorient grasped rigid objects of polygonal cross-section using open loop force control strategies. A representation forces in spherical reference frame has been developed that ensures grasp stability and allows simple commands object reorientation. procedure is shown for controlling at which fingers slip or rotation occurs, can be used three orthogonal rotations an with fingers. The implementation "twirling rotation" on the Stanford/JPL hand described. failure analysis presented potential causes from grasp. Object strategies are assuming line contacts infinitesimal finger sizes. influence cylindrical tips performance reorientations