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EnglishA 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.
| Titolo: | Optimal Control of Robotic Grasping | |
| Autori interni: | ||
| Anno del prodotto: | 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. | |
| Handle: | http://hdl.handle.net/11568/19118 | |
| ISBN: | 0780302109 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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