Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts
نویسندگان
چکیده
منابع مشابه
Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts
This paper introduces feedback control methods for distributed manipulation systems that move objects via rolling and slipping point contacts. Due to the intermittent nature of these mechanical contacts, the governing mechanics of these systems are inherently nonsmooth. We first present a methodology to model these nonsmooth mechanical effects in a manner that is tractable for nonsmooth control...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2004
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364904045480