DocumentCode
3341721
Title
An algorithm for the control of a hand-arm robotic system
Author
Melchiorri, Claudio ; Salisbury, J. Kenneth
fYear
1991
fDate
19-22 June 1991
Firstpage
471
Abstract
A method for exploiting the redundancy of a hand-arm mechanical system for manipulation tasks is presented. The basic idea is to take advantage of the intrinsic, different, capabilities of the arm and hand subsystems during the task execution. The Jacobian transpose algorithm is at the core of the proposed method. Different behaviors of the hand and of the arm are obtained by means of constraints in Null(J) properly added to the solution of the basic scheme.<>
Keywords
constraint handling; control system analysis; manipulators; redundancy; Jacobian transpose algorithm; constraints; hand-arm robotic system; manipulators; mechanical system; redundancy; task execution; Artificial intelligence; Control systems; Fingers; Force control; Intelligent robots; Jacobian matrices; Laboratories; Manipulators; Mechanical systems; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240609
Filename
240609
Link To Document