Whole Arm Grasping Control for Redundant Robot Manipulators
CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
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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.