Mobile manipulation of flexible objects under deformation constraints
Mobile manipulation of flexible objects under deformation constraints
复制标题
变形约束下柔性物体的移动操纵
DOI：
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发表时间：
2006
影响因子：
7.8
通讯作者：
H. Tanner
中科院分区：
文献类型：
--
作者：
H. Tanner
针对移动的机械臂输送和操纵可变形材料的问题，提出了一种基于比例积分力反馈的速度场跟踪控制方案。我们假设可变形物体是一个阻尼欠驱动机械系统。其零动态的输入状态稳定性的属性被用来推导出允许的末端执行器的速度和加速度的界限。分析和模拟表明，使用变形反馈，我们可以避免激发过度的物体变形。
We develop a velocity field tracking-control scheme with proportional integral force feedback to transport and manipulate deformable material with a mobile manipulator. We assume that the deformable object is a damped underactuated mechanical system. The input-to-state stability properties of its zero dynamics are used to derive bounds on the admissible end-effector velocities and accelerations. It is shown both analytically and in simulation that using deformation feedback, we can avoid exciting excessive object deformations.