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Grasping with Flexible Link Fingers: An Initial Study
Abstract Grasping with flexible fingers presents an …
Grasping with flexible fingers presents an attractive approach for certain robotic tasks. Its implementation requires simultaneous position and force control of flexible manipulators, an area about which there is little information in the literature. This paper presents an initial effort at designing controllers for flexible link robots to control both position and force. The analysis is done on a two degree-of-freedom two-link manipulator with the last link flexible. A control strategy is proposed and asymptotic stability is proved. Results from using this control law in simulations and on an experimental setup are presented.
nd on an experimental setup are presented.  +
Authors Sudipto Sur, Robert L. Behnken, Richard M. Murray  +
Flags NoRequest  +
ID 1994r  +
Source 1994 Symposium on Robot Control (SYROCO)  +
Tag sbm94-syroco  +
Title Grasping with Flexible Link Fingers: An Initial Study +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:20:40  +
URL
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http://www.cds.caltech.edu/~murray/preprints/sbm94-syroco.pdf  +
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