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On the Geometric Control of Internal Forces in Power Grasps
| Content Provider | Semantic Scholar |
|---|---|
| Author | Vicinol, Prattichizzott P. Mercorellit A. Bicchit A. |
| Copyright Year | 1997 |
| Abstract | 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. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://sirslab.dii.unisi.it/papers/grasping/PrMeBiVi-cdc97.pdf |
| Alternate Webpage(s) | http://www.centropiaggio.unipi.it/sites/default/files/1997_CDC.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Coupling (computer programming) Elasticity (data store) Optimal control Physical object Robot grasp |
| Content Type | Text |
| Resource Type | Article |