A control technique for the control of contact forces between the links of a multiple-chain robot system (such as a robot hand) and an object is presented. The goal of the control method is to optimize contact forces so as to minimize a cost function, corresponding to minimization of a weighted sum of factors such as energy consumption and sensitivity to force disturbances. A globally stable algorithm is provided, that asymptotically converges to the optimum.

Optimal Control of Robotic Grasping

BICCHI, ANTONIO
1992

Abstract

A control technique for the control of contact forces between the links of a multiple-chain robot system (such as a robot hand) and an object is presented. The goal of the control method is to optimize contact forces so as to minimize a cost function, corresponding to minimization of a weighted sum of factors such as energy consumption and sensitivity to force disturbances. A globally stable algorithm is provided, that asymptotically converges to the optimum.
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11568/19118
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 9
  • ???jsp.display-item.citation.isi??? ND
social impact