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ICRA
2000
IEEE

Motion-Decoupled Internal Force Control in Grasping with Visco-Elastic Contacts

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Motion-Decoupled Internal Force Control in Grasping with Visco-Elastic Contacts
Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internalforces is investigated. Thepresence of nonnegligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internalforces without affecting the object position. A dynamic internalforce control is proposed. It is decoupled with respect to the rigid-body object motions.
Domenico Prattichizzo, Paolo Mercorelli
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Domenico Prattichizzo, Paolo Mercorelli
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