Optimal hold and moving force/torque for dual-arm and multi-arm manipulators holding rigid object

Chen, L; Papavassilopoulos, G

dc.contributor.author	Chen, L	en
dc.contributor.author	Papavassilopoulos, G	en
dc.date.accessioned	2014-03-01T02:48:14Z
dc.date.available	2014-03-01T02:48:14Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33658
dc.subject	Cost Function	en
dc.title	Optimal hold and moving force/torque for dual-arm and multi-arm manipulators holding rigid object	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CCA.1994.381447	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CCA.1994.381447	en
heal.publicationDate	1994	en
heal.abstract	In this paper we address two problems which are important for dual-arm and multi-arm manipulators: first, the optimal hold force/torque which can hold the common object without slipping and second the optimal moving force/torque distribution supplied by each arm. We assume that we know the resultant force/torque exerted on the common object by the manipulators, then we develop new algorithms	en
heal.journalName	IEEE Conference on Control Applications	en
dc.identifier.doi	10.1109/CCA.1994.381447	en