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.
Prattichizzo, D., P., M. (2000). Motion-decoupled internal force control in grasping with visco-elastic contacts. In Proc. IEEE International Conference on Robotics and Automation, 2000, ICRA '00 (pp.3901-3906). IEEE [10.1109/ROBOT.2000.845339].
Motion-decoupled internal force control in grasping with visco-elastic contacts
PRATTICHIZZO, DOMENICO;
2000-01-01
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.
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https://hdl.handle.net/11365/35018
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