Exploiting the Redundancy of a Hand-Arm Robotic System

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/5998

Full metadata record

DC Field	Value	Language
dc.creator	Melchiorri, Claudio	-
dc.creator	Salisbury, J.K.	-
dc.date	2004-10-04T14:35:30Z	-
dc.date	2004-10-04T14:35:30Z	-
dc.date	1990-10-01	-
dc.date.accessioned	2013-10-09T02:42:21Z	-
dc.date.available	2013-10-09T02:42:21Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AIM-1261	-
dc.identifier	http://hdl.handle.net/1721.1/5998	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	In this report, a method for exploiting the redundancy of a hand-arm mechanical system for manipulation tasks is illustrated. The basic idea is to try to exploit the different intrinsic capabilities of the arm and hand subsystems. The Jacobian transpose technique is at the core of the method: different behaviors of the two subsystems are obtained by means of constraints in Null(J) generated by non-orthogonal projectors. Comments about the computation of the constraints are reported in the memo, as well as a description of some preliminary experiments on a robotic system at the A.I. Lab., M.I.T.	-
dc.format	27 p.	-
dc.format	3126854 bytes	-
dc.format	1194231 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AIM-1261	-
dc.subject	redundant	-
dc.subject	control	-
dc.subject	hand-arm	-
dc.subject	force control	-
dc.title	Exploiting the Redundancy of a Hand-Arm Robotic System	-
Appears in Collections:	MIT Items

Files in This Item:

There are no files associated with this item.

DSpace JSPUI