On the geometric control of internal forces in power grasps
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
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 language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997 |
| Number of pages | 6 |
| Volume | 2 |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 1997 |
| Pages | 1942-1947 |
| ISBN (print) | 0-7803-4187-2 |
| DOIs | |
| Publication status | Published - 1997 |
| Externally published | Yes |
| Event | 36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997 - San Diego, CA, United States Duration: 10.12.1997 → 12.12.1997 Conference number: 36 http://cdc2016.ieeecss.org/history.php |
Bibliographical note
ISSN 01912216
- Engineering