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Modeling and Control of Multi-Body Mechanical Systems: Part I A Riemannian Geometry Approach Read chapter Read first chapter

2011 | OriginalPaper | Chapter

Modeling and Control of Multi-Body Mechanical Systems: Part II Grasping under Rolling Contacts between Arbitrary Shapes

Author : Suguru Arimoto

Published in: Advances in the Theory of Control, Signals and Systems with Physical Modeling

Publisher: Springer Berlin Heidelberg

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Modeling of 2-dimensional grasping and object manipulation under rolling contacts by a pair of multi-joint robot fingers with an arbitrary fingertip contour curve is discussed. Stabilization of grasping by using a control signal based on the fingers-thumb opposability is discussed from the analysis of a Morse-Bott function introduced as an artificial potential. An exentsion of modeling of 3-D grasping under rolling contact constraints is discussed under the circumstance of arbitrary shapes of the fingertips and object.

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previous chapter Modeling and Control of Multi-Body Mechanical Systems: Part I A Riemannian Geometry Approach
next chapter Sliding Mode Control for a High-Speed Linear Axis Driven by Pneumatic Muscles
Metadata
Title
Modeling and Control of Multi-Body Mechanical Systems: Part II Grasping under Rolling Contacts between Arbitrary Shapes
Author
Suguru Arimoto
Copyright Year
2011
Publisher
Springer Berlin Heidelberg
Book
Advances in the Theory of Control, Signals and Systems with Physical Modeling

Print ISBN: 978-3-642-16134-6

Electronic ISBN: 978-3-642-16135-3

Copyright Year: 2011

DOI
https://doi.org/10.1007/978-3-642-16135-3_2