Grasping and position control for multi-fingered robot hands with uncertain Jacobian matrices

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2403-2408

  Cheah, C C ^a   Han, H Y ^a   Kawamura, S ^a   Arimoto, S ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Computational geometry; Feedback control; Grasping; Jacobian matrices; Kinematics; Orbital robotics; Position control; Robot control; Robust stability; Stability analysis

Indexed keywords

COMPUTATIONAL GEOMETRY; END EFFECTORS; FEEDBACK CONTROL; KINEMATICS; POSITION CONTROL; ROBOTIC ARMS; ROBOTICS; ROBUST CONTROL; UNCERTAINTY ANALYSIS; MATRIX ALGEBRA; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; UNCERTAIN SYSTEMS;

GRASPING; ORBITAL ROBOTICS; ROBOT CONTROLS; ROBUST STABILITY; STABILITY ANALYSIS;

JACOBIAN MATRICES; GRIPPERS;

CONTACT POINTS; JACOBIAN MATRICES;

EID: 0031631869     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680700     Document Type: Conference Paper

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