Experiments in Planar Manipulation and Grasping

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Richard M. Murray
MS Project Report, UC Berkeley, Dec 1988

Many algorithms have been proposed in the literature for control of multi-fingered robot hands. This paper compares the performance of several of these algorithms, as well as some extensions of more conventional manipulator control laws, in the case of planar grasping. A brief introduction to the subject of robot hands and the notation used in this paper is included.