Title :
Position and force control of the grasping function for a hyperredundant arm
Author :
Ivanescu, Mircea ; Florescu, Mihaela Cecilia ; Popescu, Nirvana ; Popescu, Decebal
Author_Institution :
Univ. of Craiova, Craiova
Abstract :
The grasping control problem for a hyperredundant manipulator is presented. The dynamic model is derived by using Lagrange equations developed for infinite dimensional systems. The algorithms for the position and force control are proposed. The arm fluid pressure control is inferred and the conditions that ensure the stability of the motion are discussed. Numerical simulations are presented.
Keywords :
force control; grippers; manipulator dynamics; motion control; multidimensional systems; position control; redundant manipulators; stability; Lagrange equation; arm fluid pressure control; dynamic model; force control; grasping control; hyperredundant manipulator; infinite dimensional systems; motion stability; position control; Capacitive sensors; Control systems; Erbium; Fluid dynamics; Force control; Force sensors; Manipulator dynamics; Pressure control; Robots; Spine;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543604
