Dynamic control of 3-D rolling contacts in two-arm manipulation
Dynamic control of 3-D rolling contacts in two-arm manipulation
复制标题
DOI：
10.1109/robot.1993.291821
复制
发表时间：
1993-05
期刊：
影响因子：
--
通讯作者：
N. Sarkar;X. Yun;Vijay R. Kumar
中科院分区：
文献类型：
--
作者：
N. Sarkar;X. Yun;Vijay R. Kumar
当使用两个或多个手臂来操纵大型物体时，需要保持和控制物体与一个或多个手臂上的效应器(S)之间的接触。研究了两臂滚动接触操作大型物体的动态控制问题。在该框架中，可以直接控制对象的运动以及执行器表面和对象上接触点的轨迹。为了得到系统的动力学模型，推导了三维滚动接触的速度和加速度方程。一种解耦和线性化系统的非线性反馈算法被用来演示沿每个臂的滚动运动的控制和抓取对变化的负载的适应。
When two or more arms are used to manipulate a large object, it is necessary to maintain and control contacts between the object and effector(s) on one or more arms. The dynamic control of two arms manipulating a large object with rolling contacts is addressed. In the framework presented, the motion of the object as well as the loci of the contact points on the surface of the effectors and on the object can be directly controlled. The velocity and acceleration equations for three-dimensional rolling contacts are derived in order to obtain a dynamical model of the system. A nonlinear feedback algorithm that decouples and linearizes the system is used to demonstrate the control of rolling motion along each arm and the adaption of grasps to varying loads.>