Optimal Control of Robotic Grasping | IEEE Conference Publication | IEEE Xplore

Optimal Control of Robotic Grasping


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 More

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.
Date of Conference: 24-26 June 1992
Date Added to IEEE Xplore: 10 March 2009
Print ISBN:0-7803-0210-9
Conference Location: Chicago, IL, USA

References

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