On the geometric control of internal forces in power grasps

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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.
Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997
Number of pages6
Volume2
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date1997
Pages1942-1947
ISBN (print)0-7803-4187-2
DOIs
Publication statusPublished - 1997
Externally publishedYes
Event36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997 - San Diego, CA, United States
Duration: 10.12.199712.12.1997
Conference number: 36
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Bibliographical note

ISSN 01912216

DOI

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