Back to Search
Start Over
Mobile Manipulation of Flexible Objects Under Deformation Constraints.
- Source :
-
IEEE Transactions on Robotics . Feb2006, Vol. 22 Issue 1, p179-184. 6p. - Publication Year :
- 2006
-
Abstract
- We develop a velocity field tracking-control scheme with proportional integral force feedback to transport and manipulate deformable material with a mobile manipulator. We assume that the deformable object is a damped underactuated mechanical system. The input-to-state stability properties of its zero dynamics are used to derive bounds on the admissible end-effector velocities and accelerations. It is shown both analytically and in simulation that using deformation feedback, we can avoid exciting excessive object deformations. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 22
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 19955972
- Full Text :
- https://doi.org/10.1109/TRO.2005.861452