dc.contributor.author |
Tanner Herbert, G |
en |
dc.contributor.author |
Kyriakopoulos Kostas, J |
en |
dc.date.accessioned |
2014-03-01T01:14:24Z |
|
dc.date.available |
2014-03-01T01:14:24Z |
|
dc.date.issued |
1999 |
en |
dc.identifier.issn |
10504729 |
en |
dc.identifier.uri |
https://dspace.lib.ntua.gr/xmlui/handle/123456789/13049 |
|
dc.subject |
Deformable Objects |
en |
dc.subject |
Finite Element |
en |
dc.subject |
Inequality Constraint |
en |
dc.subject |
Lie Algebra |
en |
dc.subject |
Lie Bracket |
en |
dc.subject |
underactuated mechanical system |
en |
dc.subject.other |
Deformable object handling |
en |
dc.subject.other |
Lie algebra |
en |
dc.subject.other |
Lie brackets |
en |
dc.subject.other |
Underactuated mechanical system |
en |
dc.subject.other |
Constraint theory |
en |
dc.subject.other |
Controllability |
en |
dc.subject.other |
Degrees of freedom (mechanics) |
en |
dc.subject.other |
Distributed parameter control systems |
en |
dc.subject.other |
Equations of state |
en |
dc.subject.other |
Finite element method |
en |
dc.subject.other |
Mechanisms |
en |
dc.subject.other |
Mobile robots |
en |
dc.subject.other |
Strength of materials |
en |
dc.subject.other |
Materials handling |
en |
dc.title |
Analysis of deformable object handling |
en |
heal.type |
journalArticle |
en |
heal.identifier.primary |
10.1109/ROBOT.1999.774001 |
en |
heal.identifier.secondary |
http://dx.doi.org/10.1109/ROBOT.1999.774001 |
en |
heal.publicationDate |
1999 |
en |
heal.abstract |
A manipulated deformable object is viewed as an underactuated mechanical system. In this context controllability issues are discussed and results on the nature of the constraints and the controllability properties of an important class of deformable objects being modeled with finite elements are stated. For this class of deformable objects the results permit to circumvent the usual procedure of calculating Lie brackets to establish a base for the associated Lie algebra, and answers the question of determining the kind of constraints imposed on the system in a straightforward algebraic way. Inequality constraints associated to material strength limitations are also included. |
en |
heal.journalName |
Proceedings - IEEE International Conference on Robotics and Automation |
en |
dc.identifier.doi |
10.1109/ROBOT.1999.774001 |
en |
dc.identifier.volume |
4 |
en |
dc.identifier.spage |
2674 |
en |
dc.identifier.epage |
2679 |
en |