Accession Number:

ADA465616

Title:

Whole Arm Grasping Control for Redundant Robot Manipulators

Descriptive Note:

Technical rept.

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2005-01-01

Pagination or Media Count:

10.0

Abstract:

An approach to whole arm grasping of objects using redundant robot manipulators is presented. A kinematic control development is presented which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints. A joint space controller which provides asymptotic tracking of the encoded desired trajectory in the presence of system uncertainties is then presented. Experimental results for a planar, three link configuration of the Barrett whole arm manipulator are provided to illustrate the validity of the approach.

Subject Categories:

  • Cybernetics
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE