DocumentCode
3531577
Title
Modelling the manipulation of rigid objects as a singular system
Author
Hui, R.C. ; Goldenberg, A.
Author_Institution
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
fYear
1988
fDate
24-29 Apr 1988
Firstpage
240
Abstract
A singular system model of manipulation of rigid objects is presented. It is suggested that this is the proper formulation of the problem. The use of singular systems in robotic studies is a recent development. Its application thus far has been limited to the frictionless contour-following problem. A review of related studies is given. Some control issues related to this problem are discussed
Keywords
control system analysis; position control; robots; contour-following; model; rigid object manipulation; robotic; singular system; Control systems; Force control; Grasping; Grippers; Jacobian matrices; Laboratories; Manipulator dynamics; Mechanical engineering; Robotics and automation; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12054
Filename
12054
Link To Document