Dynamics and Control of Whole Arm Grasps

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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
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Song, Peng
Yashima, Masahito
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In this paper we consider the dynamics and control of whole arm grasping systems. We develop a control scheme that employs a minimal set of inputs to control the trajectory of the system while using the surplus inputs to control the interaction forces in order to maintain the unilateral constraints at both rolling and sliding contacts. Since the number of surplus inputs is less than the number of output force variables, we propose a controller that controls the critical contact force components. We emphasize the dynamic models and algorithms for computing contact forces, which are crucial to the development of the control algorithms. Finally, we show how compliant contact models and a previously developed integrated simulation approach [14] are used to overcome the difficulties with uniqueness and existence of solutions. A planar whole arm manipulation system is used as an example to illustrate the basic ideas.

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2001-05-21
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Departmental Papers (MEAM)
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2023-05-16T21:43:41.000
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Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001) Volume 3, pages 2229-2234. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=20184 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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