Abstract:
A control technique for the control of contact forces between the links of a multiple-chain robot system (such as a robot hand) and an object is presented. The goal of th...Show MoreMetadata
Abstract:
A control technique for the control of contact forces between the links of a multiple-chain robot system (such as a robot hand) and an object is presented. The goal of the control method is to optimize contact forces so as to minimize a cost function, corresponding to minimization of a weighted sum of factors such as energy consumption and sensitivity to force disturbances. A globally stable algorithm is provided, that asymptotically converges to the optimum.
Published in: 1992 American Control Conference
Date of Conference: 24-26 June 1992
Date Added to IEEE Xplore: 10 March 2009
Print ISBN:0-7803-0210-9