Experiments in Planar Manipulation and Grasping

From Murray Wiki
Jump to navigationJump to search

Richard M. Murray
MS Project Report, UC Berkeley, Dec 1988

Many algorithms have been proposed in the literature for control of multi-fingered robot hands. This paper compares the performance of several of these algorithms, as well as some extensions of more conventional manipulator control laws, in the case of planar grasping. A brief introduction to the subject of robot hands and the notation used in this paper is included.