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ICRA
2009
IEEE

A riemannian-geometry approach for dynamics and control of object manipulation under constraints

9 years 1 months ago
A riemannian-geometry approach for dynamics and control of object manipulation under constraints
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) robot under a nonholonomic constraint is reinterpreted in terms of "submersion" in Riemannian geometry. A force control signal constructed in the image space spanned from the constraint gradient can be regarded as a lifting in the direction orthogonal to the kernel space. By means of the Riemannian distance on the constraint submanifold, stability on a manifold for a redundant system under holonomic constraints is discussed. Second, control and stabilization of dynamics of two-dimensional object grasping and manipulation by using a pair of multi-joint robot fingers are tackled, when a rigid object is given with arbitrary shape. Then, it is shown that rolling contact constraint induce the Euler equation of motion...
Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto,
Added 19 Feb 2011
Updated 19 Feb 2011
Type Journal
Year 2009
Where ICRA
Authors Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara
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