Interactional Modeling and Optimized PD Impedance Control Design for Robust Safe Fingertip Grasping
Dynamic and robust control of fingertip grasping is essential in robotic hand manipulation. This study introduces detailed kinematic and dynamic mathematical modeling of a two-fingered robotic hand, which can easily be extended to a multi-fingered robotic hand and its control. The Lagrangian techniq...
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| Autores principales: | , , |
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| Formato: | Capítulo de libro |
| Lenguaje: | inglés |
| Publicado: |
IntechOpen
2020
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| Materias: | |
| Acceso en línea: | https://www.intechopen.com/chapters/66409 |
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