DocumentCode
2041649
Title
Motion-decoupled internal force control in grasping with visco-elastic contacts
Author
Prattichizzo, Domenico ; Mercorelli, Paolo
Author_Institution
Dipt. Ing. Inf., Siena Univ., Italy
Volume
4
fYear
2000
fDate
2000
Firstpage
3901
Abstract
Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internal forces is investigated. The presence of nonnegligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A dynamic internal force control is proposed. It is decoupled with respect to the rigid-body object motions
Keywords
force control; manipulator dynamics; viscoelasticity; dynamic internal force control; grasping; manipulators; motion-decoupled internal force control; nonnegligible compliance; object position; rigid-body object motions; visco-elastic contact interactions; Damping; Fingers; Force control; Jacobian matrices; Kinematics; Manipulator dynamics; Medical robotics; Planning; Robots; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845339
Filename
845339
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