Robot Hand Grasping and Related Problems: Optimal Control and Identification

The optimal control problem related to the grasping of ob jects by multifingered grippers of robots is investigated. The Linear Complementarity Problem (LCP), which governs the static unilateral and frictional contact problem, is formulated, and certain propositions concerning necessary and sufficie...

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Veröffentlicht in:	The International journal of robotics research 1994-04, Vol.13 (2), p.127-136
Hauptverfasser:	Panagiotopoulos, P.D., Al-Fahed, A.M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Robotics
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	The optimal control problem related to the grasping of ob jects by multifingered grippers of robots is investigated. The Linear Complementarity Problem (LCP), which governs the static unilateral and frictional contact problem, is formulated, and certain propositions concerning necessary and sufficient conditions for its solution are proved. Next the optimal control problem is formulated and studied. Presented also is numeric application to illustrate the theory.
ISSN:	0278-3649 1741-3176
DOI:	10.1177/027836499401300203