Dynamic control of internal force for visco-elastic contact grasps

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Authors

This paper deals with robotic grasps exhibiting viscoelastic contact interactions with the manipulated object. Such interactions are frequent in advanced robotic applications since in many cases, i.e. when a great precision is needed, elasticity cannot be neglected. This is particularly true in medical applications, as in tele-surgery or in laparoscopy, where precision is obviously basic. The control of internal forces for visco-elastic grasps is explored in this work. This is an important issue in tele-operated robotics (tele-surgery and so forth). 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 dynamically decoupling the internal force control action from the object dynamics is proposed.
Original languageEnglish
Title of host publicationProceedings of the 1999 IEEE International Workshop on Robot and Human Interaction
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date1999
Pages321-326
ISBN (print)0-7803-5841-4
DOIs
Publication statusPublished - 1999
Externally publishedYes
Event8th Institute of Electrical and Electronics Engineers International Workshop on Robot and Human Communication - 1999 - Pisa, Italy
Duration: 27.09.199929.09.1999
Conference number: 8
https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=900300

    Research areas

  • Engineering - Force control, Manipulators, Viscoelasticity, Position control, Contact grasps, Robotics

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