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An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks
Abstract Controllers developed for control of flexi …
Controllers developed for control of flexible-link robots in hybrid force-position control tasks by a new singular perturbation analysis of flexible manipulators are implemented on an experimental two-robot grasping setup. Various performance criteria are set up and experimental results are discussed within that setting to show tradeoffs in using flexible link robots for grasping. We conclude that large flexibility can be controlled without too much additional effort, has performance comparable to rigid robots and possesses enhancing properties which make it attractive for use in certain types of applications.
for use in certain types of applications.  +
Authors Sudipto Sur and Richard M. Murray  +
ID 1997g  +
Source 1997 International Conference on Robotics and Automation  +
Tag sm97-icra  +
Title An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:19:58  +
URL
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http://www.cds.caltech.edu/~murray/preprints/sm97-icra.pdf  +
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An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks + Title
 

 

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