Analysis of deformable object handling

Tanner Herbert, G; Kyriakopoulos Kostas, J

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