Title :
Whole arm grasping control for redundant robot manipulators
Author :
Braganza, D. ; McIntyre, M.L. ; Dawson, D.M. ; Walker, I.D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC
Abstract :
An approach to whole arm grasping of objects using redundant robot manipulators is presented. A kinematic control which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints is developed. A joint space controller which provides asymptotic tracking of the encoded desired trajectory in the presence of system uncertainties is presented
Keywords :
Lyapunov methods; asymptotic stability; end effectors; grippers; manipulator dynamics; motion control; position control; redundant manipulators; tracking; uncertain systems; asymptotic tracking; body self-motion positioning information; end-effector position; joint space controller; kinematic control; manipulator joints; object grasping; redundant robot manipulators; system uncertainties; trajectory signal; whole arm grasping control; Contracts; Control systems; Force control; Force measurement; Force sensors; Grasping; Manipulators; Orbital robotics; Robot control; Shape control;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657209
