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
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1.
D. E. Orin and S. Y. Oh, "Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains", J. Dyn. Sist. Meas. Contr., vol. 102, 1981.
2.
Y. Nakamura, K. Nagai and T. Yoshikawa, "Dynamics and Stability in Coordination of Multiple Robotic Systems", International Journal of Robotic Research, vol. 8, no. 2, April 1989.
