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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. +
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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 This property is a special property in this wiki.
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15 May 2016 06:20:40 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/sbm94-syroco.pdf + |
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Grasping with Flexible Link Fingers: An Initial Study + | Title |
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