Optimal Control ofRobotic Graspmg
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Acontrol technique forthecontrol ofcontact forces betweenthelinks ofamultiple-chain robot system (such asarobot hand) andanobjet ispresented. Thegoal ofthecontrol method istooptimize contact foreso astomnimise acost function, correspoding to nimization ofaweighted sumoffactors suchasenergy consumption andsensitivity toforce disturbances. A globally stable algorithm isprovided, thatasymptotically converges totheoptimum.