On the geometric control of internal forces in power grasps

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

The geometric approach to the control of internal forces for robotic grasping is explored. Since the manipulation of deformable objects is a frequently occurrence (medical applications, manipulation of rubber and plastic in industry), manipulation systems with significant contact elasticity are studied. The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law decoupling the internal force control action from the object dynamics is proposed.
OriginalspracheEnglisch
TitelProceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997
Anzahl der Seiten6
Band2
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum1997
Seiten1942-1947
ISBN (Print)0-7803-4187-2
DOIs
PublikationsstatusErschienen - 1997
Extern publiziertJa
Veranstaltung36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997 - San Diego, CA, USA / Vereinigte Staaten
Dauer: 10.12.199712.12.1997
Konferenznummer: 36
http://cdc2016.ieeecss.org/history.php

DOI

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