Whole arm grasping control for redundant robot manipulators

被引：14
|
作者：
Braganza, D. [1 ]
McIntyre, M. L. [1 ]
Dawson, D. M. [1 ]
Walker, I. D. [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1657209
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3194 / 3199
页数：6
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