Exploiting the Redundancy of a Hand-Arm Robotic System

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

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