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

被引：35

作者：

Cheah, CC ^{[1
]}

Han, HY ^{[1
]}

Kawamura, S ^{[1
]}

Arimoto, S ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Shiga 525, Japan

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年

关键词：

D O I：

10.1109/ROBOT.1998.680700

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Most research on multi-fingered robot control has assumed that the Jacobian matrices from joint space to task space is exactly known. This implies that the locations of contact points, geometry of the object, kinematics of the multi-fingered robot hands must be exactly known. In this paper, a task-space feedback control problem of multi-fingered robot hands with uncertain Jacobian matrices is formulated and solved. The stability and robustness of the proposed controllers to the uncertainties in Jacobian matrices are analyzed.

引用

页码：2403 / 2408

页数：4