Whole Arm Grasping Control for Redundant Robot Manipulators

Abstract

An approach to whole arm grasping of objects using redundant robot manipulators is presented. A kinematic control development is presented which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints. A joint space controller which provides asymptotic tracking of the encoded desired trajectory in the presence of system uncertainties is then presented. Experimental results for a planar, three link configuration of the Barrett whole arm manipulator are provided to illustrate the validity of the approach.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA465616

Entities

People

  • D. Braganza
  • D. M. Dawson
  • I. Walker
  • M. L. Mcintyre

Organizations

  • Clemson University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Acquisition
  • Closed Loop Systems
  • Collision Avoidance
  • Control
  • Control Systems
  • Coriolis Effect
  • Data Acquisition
  • Engineering
  • Manipulators
  • Robots
  • Standards
  • Stratified Fluids
  • Three Dimensional
  • Trajectories
  • Uncertainty
  • Universities

Fields of Study

  • Psychology

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Space Objects
  • Space - Spacecraft Maneuvers