Browse wiki

From MurrayWiki
Jump to: navigation, search
Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators
Abstract This paper presents a new singular perturb …
This paper presents a new singular perturbation approach for analysing flexibility in manipulators. This approach does not treat the flexible manipulator as a perturbation of the rigid manipulator, and therefore, allows for significant amounts of flexibility (beyond the linear range). Analysis based on this approach leads to some provably stable control schemes for the position and force control of flexible-link manipulators. Simulation results are presented for a single flexible manipulator pushing against a wall.
exible manipulator pushing against a wall.  +
Authors Sudipto Sur and Richard M. Murray  +
ID 1996q  +
Source 1997 American Control Conference  +
Tag sm97-acc  +
Title Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators +
Type Conference paper  +
Categories Papers
Modification date
This property is a special property in this wiki.
15 May 2016 06:20:09  +
URL
This property is a special property in this wiki.
http://www.cds.caltech.edu/~murray/preprints/sm97-acc.pdf  +
hide properties that link here 
Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators + Title
 

 

Enter the name of the page to start browsing from.