A sufficient condition for manipulation of envelope family
A sufficient condition for manipulation of envelope family
复制标题
操纵信封族的充分条件
DOI：
10.1109/robot.2000.844740
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
T. Tsuji
中科院分区：
文献类型：
--
作者：
K. Harada;M. Kaneko;T. Tsuji
本文讨论了包络族操纵的一个充分条件，即对象与链（或环境）之间允许有多个接触。所有链条由位置控制链条（P链）或扭矩控制链条（T链）分配。虽然多接触下的物体运动不能唯一指定的T-链，我们证明了一个充分条件，确保一组给定的扭矩命令的T-链总是朝着目标沿着表面的P-链（或一个固定的环境）。实验以及模拟也被证明，以验证的基本思想。
This paper discusses a sufficient condition for manipulation of envelope family, where multiple contacts are allowed between object and chains (or environment). All chains are assigned by either position controlled chain (P-chain) or torque controlled chain (T-chain). While the object motion under multiple contacts can not be uniquely specified by T-chains only, we show a sufficient condition ensuring that a given set of torque commands for T-chains always move the object toward the goal along the surface of P-chain (or a fixed environment). Experiments as well as simulations are also shown to verify the basic idea.