Research Report RIKEN-BMC #003 Whole Body Manipulation Part III: On The Rolling Contact Problem
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چکیده
1 2-link whole arm manipulation system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2 Zero-input motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 Evolution of φ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4 Trajectory tracking control in the case of rolling contact with Link 2 . . . . . . . . . . . . . . . . 6 5 Trajectory tracking control in the case of rolling contact with Link 1 . . . . . . . . . . . . . . . . 7
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تاریخ انتشار 2002