A Constraint-following Approach-based Hybrid Control of Multi-fingers Robot

被引：0

作者：

Zhao, Ruiying ^{[1
]}

Wu, Linlin ^{[1
]}

Zhang, Hongjun ^{[1
]}

机构：

[1] Changan Univ, Sch Construct Machinery, Xian, Peoples R China

来源：

2019 1ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ARTIFICIAL INTELLIGENCE (IAI 2019) | 2019年

基金：

中国国家自然科学基金;

关键词：

constraint-following; hybrid control; multi-fingers robot; MECHANICAL SYSTEMS; MOTION;

D O I：

10.1109/iciai.2019.8850739

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In the paper, by using the Fundamental Equation of Constrained Motion, we construct the dynamic model of the three fingered hand robot holding an object in two dimension with rolling constraint. In the constructed motion equation, the robot fingers and object are considered as an entire system, which includes the contact forces between fingers and object. By the contact forces model, we formulate a model-based hybrid control of robot which can hold the object and satisfy the prehensility condition.

引用

页数：5

共 7 条

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