High precision constrained grasping with cooperative adaptive hand control
type: Item
instance of: scholarly article
title: High precision constrained grasping with cooperative adaptive hand control
zbMATH Open document ID: 0998.93031
DOI: 10.1023/A:1013987209547
author: Alejandro Rodriguez-Ángeles
author: Suguru Arimoto
author: Gerd Hirzinger
author: Vicente Parra-Vega
published in: Journal of Intelligent \& Robotic Systems
publication date: 2002-11-16T00:00:00Z
review text: This paper suggests an adaptive control scheme which ensures precise asymptotic grasping and manipulation. Despite parametric uncertainty in all system parameters, tracking of position and force errors enforces an impedance relationship, which in turn allows for a smooth manipulation of the constrained object. The whole system is modeled with differential algebraic equations, so that the dynamic model naturally includes the kinematical constraint of the environment on the object, and kinematic constraints of the object on the fingertips.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 1736275
zbMATH Keywords: automated systems
zbMATH Keywords: mechanisms
zbMATH Keywords: robots
zbMATH Keywords: control of mechanical systems
zbMATH Keywords: adaptive control
zbMATH Keywords: grasping
zbMATH Keywords: manipulation
zbMATH Keywords: tracking
zbMATH Keywords: impedance relationship
zbMATH Keywords: differential algebraic equations
zbMATH Keywords: kinematical constraint
reviewed by: Clementina Mladenova
MaRDI profile type: Publication
full work available at URL: a:1013987209547
OpenAlex ID: W2115176207
description: scientific article; zbMATH DE number 1736275