The contact motion between the robot arm and an object can be rolling, sliding, or separation. In this article, we address the problem of maintaining rolling ...
robot arm and an object can be rolling, sliding, or separation. In this article, we address the problem of maintaining rolling contact between the robot arm and ...
Control of contact interactions with acatastatic nonholonomic constraints. Authors: Nilanjan Sarkar. Nilanjan Sarkar. View Profile. , Xiaoping Yun. Xiaoping Yun.
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Bibliographic details on Control of Contact Interactions with Acatastatic Nonholonomic Constraints.
The geo- metric hybrid control theory we propose is widely applicable to not only manipulators with end-effector constraints (holonomic or nonholonomic), but ...
Invariant hybrid force/position control of a velocity controlled robot with ... Control of contact interactions with acatastatic nonholonomic constraints.
A unified state space formulation of robotic systems subject to both holonomic and nonholonomic constraints is presented, which eliminates the need to solve ...
Abstract—We explore the control synthesis problem for a robot dynamically manipulating an object in the presence of multiple frictional contacts.
Abstract—The position/force tracking control of Lagrangian mechanical systems with classical nonholonomic constraints is addressed in this paper.
This work solves the motion planning problem for a robot dynamically manipulating an object in the presence of multiple frictional contacts by providing a ...