TY - CHAP

T1 - Motion-decoupled internal force control in grasping with visco-elastic contacts

AU - Prattichizzo, Domenico

AU - Mercorelli, Paolo

N1 - Conference code: 57053 Export Date: 22 May 2012 Source: Scopus CODEN: PIIAE Language of Original Document: English Correspondence Address: Prattichizzo, Domenico; Univ of Siena, Siena, Italy References: Basile, G., Marro, G., (1992) Controlled and Conditioned Invariants in Linear System Theory, , New Jersey, Prentice Hall; Barbagli, F., Marro, G., Mercorelli, P., Prattichizzo, D., Some results on output algebraic feedback with applications to mechanical systems (1998) Proc. 37th IEEE Conf. Decision Control, , Dec. Tampa, Florida; Bicchi, A., Force distribution in multiple whole-limb manipulation (1993) Proc. IEEE Int. Conf Robotics Automat, pp. 196-201; Bicchi, A., Melchiorri, C., Balluchi, D., On the mobility and manipulability of general multiple limb robots (1995) IEEE Trans. on Robotics and Automat., 11 (2); Howard, W.S., Kumar, V., Modelling and analysis of the compliance and stability of enveloping grasps (1995) Proceedings IEEE Int. Conf Robotics Automat, pp. 1367-1372; Mattikali, R., Khosla, P.K., Motion constraints from geometry of contact: Representation and analysis (1992) Proc. of IEEE Conf. on Robo. and Autom, , Nice, France, May; Mishra, B., Grasp metrics: Optimality and complexity (1995) Algorithmic Foundations of Robotics, pp. 137-166. , A.K. Peters, Wellesley, MA; Prattichizzo, D., Mercorelli, P., Geometric Control of General Manipulation System, , Intemal Report, Faculty of Engineering, University of Siena; Prattichizzo, D., Bicchi, A., Dynamic analysis of mobility and graspability of general manipulation systems (1998) IEEE Transactions on Robotics and Automation, 14 (2). , April; Prattichizzo, D., Bicchi, A., Consistent task specification for manipulation systems with general kinematics (1997) ASME Transactions Journal on Dynamics, System, Measurements and Control, , Dec; Prattichizzo, D., Salisbury, J.K., Bicchi, A., Contact and grasp robustness measures: Analysis and experiments (1995) Proceedings of 4° Int. Symp. on Experimental Robotics, pp. 50-60. , Stanford CA (USA); Trinkle, J.C., Farahat, A.O., Stiller, P.F., Second-order stability cells of a frictionless rigid body grasp by rigid body fingers (1994) Proceedings IEEE Int. Conf Robotics Automat., pp. 2815-2821; Zuo, B.-R., Selinger, G., Qian, W.-H., An off-line iterative and on-line analytical force distribution approach for soft multi-fingered hands (1999) Proc. IEEE Int. Conf Robotics Automat, , Detroit, Michigan; Zhang, X.-Y., Nakamura, Y., Goda, K., Yoshimoto, K., Robustness of power grasp (1994) Proceedings IEEE Int. Conf Robotics Automat, pp. 2828-2835 Sponsors: IEEE Robotics and Automation Society

PY - 2000/1/1

Y1 - 2000/1/1

N2 - 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.

AB - 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.

KW - Dynamic internal force control

KW - Prismatic joint

KW - Robotic grasp

KW - Viscoelastic contact

KW - Degrees of freedom (mechanics)

KW - Force control

KW - Human computer interaction

KW - Mathematical models

KW - Motion control

KW - Position control

KW - Robotics

KW - Universal joints

KW - Viscoelasticity

KW - Motion planning

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=0033726635&partnerID=8YFLogxK

U2 - 10.1109/robot.2000.845339

DO - 10.1109/robot.2000.845339

M3 - Article in conference proceedings

SN - 0-7803-5886-4

VL - 4

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3901

EP - 3906

BT - Proceedings of the IEEE International Conference on Robotics and Automation

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - Institute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000

Y2 - 24 April 2000 through 28 April 2000

ER -