DocumentCode
489450
Title
Optimal Control of Robotic Grasping
Author
Bicchi, Antonio
Author_Institution
Centro "E. Piaggio", Facolta di Ingegneria, UniversitÃ\xa0 di Pisa - 56125 Pisa, Italia
fYear
1992
fDate
24-26 June 1992
Firstpage
778
Lastpage
779
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.
Keywords
Control systems; Cost function; Energy consumption; Equations; Force control; Jacobian matrices; Optimal control; Optimization methods; Robot sensing systems; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792180
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