On the geometric control of internal forces in power grasps
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
Standard
On the geometric control of internal forces in power grasps. / Prattichizzo, D.; Mercorelli, P.; Bicchi, Antonio et al.
Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997 . Band 2 IEEE - Institute of Electrical and Electronics Engineers Inc., 1997. S. 1942-1947 (Proceedings of the IEEE Conference on Decision and Control).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
Harvard
APA
Vancouver
Bibtex
}
RIS
TY - CHAP
T1 - On the geometric control of internal forces in power grasps
AU - Prattichizzo, D.
AU - Mercorelli, P.
AU - Bicchi, Antonio
AU - Vicino, Antonio
N1 - Conference code: 36
PY - 1997
Y1 - 1997
N2 - 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.
AB - 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.
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=0031380148&partnerID=8YFLogxK
U2 - 10.1109/CDC.1997.657879
DO - 10.1109/CDC.1997.657879
M3 - Article in conference proceedings
SN - 0-7803-4187-2
VL - 2
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1942
EP - 1947
BT - Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997
Y2 - 10 December 1997 through 12 December 1997
ER -