MANIPULATION
Robot Hand Grasping and Related Problems: Optimal Control and Identification
P. D. Panagiotopoulos, A.M. Al-Fahed
- Year
- 1994
- Citations
- 35
Abstract
The optimal control problem related to the grasping of ob jects by multifingered grippers of robots is investigated. The Linear Complementarity Problem (LCP), which governs the static unilateral and frictional contact problem, is formulated, and certain propositions concerning necessary and sufficient conditions for its solution are proved. Next the optimal control problem is formulated and studied. Presented also is numeric application to illustrate the theory.
Keywords
GrippersComplementarity (molecular biology)Optimal controlRobotControl (management)Control theory (sociology)Identification (biology)Linear complementarity problemComputer scienceRobot hand
Related papers
OTHER
📊 26,957 cites
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
PERCEPTION
📊 22,245 cites
Artificial intelligence: a modern approach
1995
OTHER
📊 18,993 cites
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991
SWARM
📊 14,853 cites
A new optimizer using particle swarm theory
R.C. Eberhart, James Kennedy
2002