Cooperative Impedance Control of a Finger-Arm Robot by Regulating Finger's Manipulability-Reference-Cited by-同舟云学术

Cooperative Impedance Control of a Finger-Arm Robot by Regulating Finger's Manipulability

Published:2009 Issue:5 Volume:3 Page:756-767
ISSN:1881-3046
Container-title:Journal of System Design and Dynamics
language:en
Short-container-title:JSDD

Author:

HUANG Jian¹,YAMADA Daisuke²,NAKAMURA Yusuke²,HARA Masayuki³,YABUTA Tetsuro²

Affiliation:

1. Dept. of Intelligent Mech. Eng., School of Eng., Kinki University

2. Dept. of Mech. Eng., Yokohama National Univ.

3. Lab of Systems and Robotics, Swiss Federal Institute of Technology (EPFL)

Publisher

Japan Society of Mechanical Engineers

Link

http://www.jstage.jst.go.jp/article/jsdd/3/5/3_5_756/_pdf

Reference22 articles.

1. (1) Nakamura, Y. and Hanafusa, H., Inverse kinematics solutions with singularity robustness for robot manipulator control, Trans. ASME, J. Dyn. Syst., Meas. & Control, Vol.108, No.4, (1986), pp.163-171.

2. (2) Furusho, J. and Usui, H., A control method for manipulator with redundant, Trans. JSME (C), Vol.55, No.514, (1989), pp.1391-1398.

3. (3) Minami, M., Naito, Y. and Asakura, T., Avoidance manipulability for redundant manipulators, JRSJ, Vol.17, No.6, (1999), pp.887-895.

4. Real-Time Obstacle Avoidance for Manipulators and Mobile Robots

5. Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

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