Stiffness as a control factor for object manipulation

A New Theory in Stiffness Control for Dextrous Manipulation

A new discovery on the sti ness contr ol in robotics, as well as its applic ations in grasping and dextrous manipulation, is presente d. Extended from the Conservative Congruence T ransformation (CCT) theory, the new theory accounts for the change in geometry and the noncommutative rotational property of the Cartesian sti ness in grasping and dextrous manipulation using sti ness control when th...

Multiple impedance control for object manipulation

the presence of an unknown environment, have been proposed [8]. The Object Impedance Control (OIC), an extension of impedance control, has been developed for multiple robotic arms manipulating a common object [9]. The OIC enforces a designated impedance not of an individual manipulator endpoint, but of the manipulated object itself. A combination of feedforward and feedback controls is employed...

Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Control strategies in object manipulation tasks.

The remarkable manipulative skill of the human hand is not the result of rapid sensorimotor processes, nor of fast or powerful effector mechanisms. Rather, the secret lies in the way manual tasks are organized and controlled by the nervous system. At the heart of this organization is prediction. Successful manipulation requires the ability both to predict the motor commands required to grasp, l...

Camphor as a promising insecticude for control