https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Grasping_with_Flexible_Link_Fingers%3A_An_Initial_Study 2026-09-20T04:28:38Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Grasping_with_Flexible_Link_Fingers:_An_Initial_Study&diff=20049&oldid=prev 2016-05-15T06:20:40Z

<p>htdb2wiki: creating page for 1994r_sbm94-syroco.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Sudipto Sur, Robert L. Behnken, Richard M. Murray <br /> | title = Grasping with Flexible Link Fingers: An Initial Study<br /> | source = 1994 Symposium on Robot Control (SYROCO)<br /> | year = 1994<br /> | type = Conference paper<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/sbm94-syroco.pdf<br /> | abstract = <br /> Grasping with flexible fingers presents an attractive approach for<br /> certain robotic tasks. Its implementation requires simultaneous<br /> position and force control of flexible manipulators, an area about<br /> which there is little information in the literature. This paper<br /> presents an initial effort at designing controllers for flexible link<br /> robots to control both position and force. The analysis is done on a<br /> two degree-of-freedom two-link manipulator with the last link<br /> flexible. A control strategy is proposed and asymptotic stability is<br /> proved. Results from using this control law in simulations and on an<br /> experimental setup are presented.<br /> | flags = NoRequest<br /> | tag = sbm94-syroco<br /> | id = 1994r<br /> }}</div>

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