A novel force-velocity field for object manipulation with a model-free cooperative controller

When robots grasp a rigid object, homogeneous holonomic constraints give rise to stiff nonlinear constrained dynamics. As a result, a smooth motion is preferred when grasping an object in a tight but gentle manner, making it a difficult control problem that increases when uncertainties and unmodelle...

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Veröffentlicht in:	Transactions of the Institute of Measurement and Control 2019-01, Vol.41 (2), p.573-581
Hauptverfasser:	Muñoz–Vázquez, Aldo-Jonathan, Parra–Vega, Vicente, Sánchez–Orta, Anand, Ruiz–Sánchez, Francisco
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer simulation Constraints Control systems design Controllers Cooperative control Grasping (robotics) Nonlinear dynamics Robots Robust control Uncertainty Velocity Velocity distribution
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