ROBOT HAND GRASPING AND RELATED PROBLEMS - OPTIMAL-CONTROL AND IDENTIFICATION

被引：21
|
作者：
PANAGIOTOPOULOS, PD [1 ]
ALFAHED, AM [1 ]
机构：
[1] AL ISRA UNIV,AMMAN,JORDAN
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1994年 / 13卷 / 02期
关键词：
D O I：
10.1177/027836499401300203
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The optimal control problem related to the grasping of objects by multifingered grippers of robots is investigated. The Linear Complementarity Problem (LCP), which governs the static unilateral and frictional contact problem, is formulated, and certain propositions concerning necessary and sufficient conditions for its solution are proved. Next the optimal control problem is formulated and studied. Presented also is numeric application to illustrate the theory.
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页码：127 / 136
页数：10
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