DocumentCode
1870713
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
fYear
2008
fDate
19-23 May 2008
Firstpage
2599
Lastpage
2604
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543604
Filename
4543604
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