Distributed manipulation with stick-slip contact

被引：0
|
作者：
Bedillion, M [1 ]
Messner, W [1 ]
机构：
[1] Carnegie Mellon Univ, Dept Mech Engn, Pittsburgh, PA 15213 USA
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Actuator arrays are planar arrangements of two degree-of-freedom actuators that cooperatively translate and orient objects for efficient manipulation. This paper derives the equations of motion for an object with the friction interface switching between slip and no-slip contact at each actuator. A controller derived from kinematics is presented and its stability analyzed with the multivariable circle criterion. Stability results, are verified through simulation.
引用
收藏
页码：866 / 873
页数：8
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