Force control of multiple robotic mechanisms

Document Type

Conference Proceeding

Publication Date

1-1-1992

Publication Title

Proceedings of the American Control Conference

Volume

1

First Page

776

Last Page

777

Abstract

This paper presents a model of multiple robotic mechanisms (compliant mechanical fingers) in contact with an object and a method for controlling the contact forces. In the model, springs and dampers (compliant properties) are connected in parallel between the end-points of the mechanisms and the object. Using this model a centralized contact force controller is proposed. This controller is based on the optimal control approach where in addition to optimality, the closed-loop poles of the system are placed at specific locations. The performance of the controller is demonstrated using two 1D-OF fingers grasping an object.

DOI

10.23919/acc.1992.4792179

ISSN

07431619

ISBN

0780302109,9780780302105

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