Motion-decoupled internal force control in grasping with visco-elastic contacts
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internal forces is investigated. The presence of non-negligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A dynamic internal force control is proposed. It is decoupled with respect to the rigid-body object motions.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Robotics and Automation |
| Number of pages | 6 |
| Volume | 4 |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 01.01.2000 |
| Pages | 3901-3906 |
| ISBN (Print) | 0-7803-5886-4 |
| DOIs | |
| Publication status | Published - 01.01.2000 |
| Externally published | Yes |
| Event | Institute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000 - San Francisco, United States Duration: 24.04.2000 → 28.04.2000 https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra/past-and-future-venues |
- Dynamic internal force control, Prismatic joint, Robotic grasp, Viscoelastic contact, Degrees of freedom (mechanics), Force control, Human computer interaction, Mathematical models, Motion control, Position control, Robotics, Universal joints, Viscoelasticity, Motion planning
- Engineering