Title :
Motion-decoupled internal force control in grasping with visco-elastic contacts
Author :
Prattichizzo, Domenico ; Mercorelli, Paolo
Author_Institution :
Dipt. Ing. Inf., Siena Univ., Italy
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
Keywords :
force control; manipulator dynamics; viscoelasticity; dynamic internal force control; grasping; manipulators; motion-decoupled internal force control; nonnegligible compliance; object position; rigid-body object motions; visco-elastic contact interactions; Damping; Fingers; Force control; Jacobian matrices; Kinematics; Manipulator dynamics; Medical robotics; Planning; Robots; Symmetric matrices;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845339
