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Dynamic control of pushing operations

Published online by Cambridge University Press:  01 November 1999

N. Rezzoug  and
P. Gorce
N. Rezzoug
Affiliation:
Unité Inserm U 483, Creare, UPMC 9, quai Saint Bernard 75005 Paris, and Laboratoire de Génie Mécanique Productique et Biomécanique (L.G.M.P.B.), IUT de CACHAN – Université Paris-Sud, 9 Avenue de la Division Leclerc – BP 140, 94234 CACHAN Cedex (France)[email protected]
P. Gorce
Affiliation:
Unité Inserm U 483, Creare, UPMC 9, quai Saint Bernard 75005 Paris, and Laboratoire de Génie Mécanique Productique et Biomécanique (L.G.M.P.B.), IUT de CACHAN – Université Paris-Sud, 9 Avenue de la Division Leclerc – BP 140, 94234 CACHAN Cedex (France)[email protected]
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Abstract

The goal of this paper is to present a new method to control pushing operations with several fingers. We take into account some dynamical aspects that have not yet been investigated in pushing studies such as the object's center of mass acceleration correction and optimal force distribution. To do this, we use a general method for multi-chain mechanisms based on a dynamical control with finger coordination. We first detail the problems encountered in this type of manipulation and the way to take these points into account with specific constraints definition for the support contact. According to the parameters of the model such as optimization criterion and object characteristics, we present simulation results of object pushing with two fingers for a rotational and translational motion.

Keywords

Pushing taskDynamic controlMulti-chain mechanismModel parametersFinger coordination
Type
Research Article
Information
Robotica , Volume 17 , Issue 6 , November 1999 , pp. 613 - 620
Copyright
© 1999 Cambridge University Press

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