View source for Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators

{{HTDB paper
| authors = Sudipto Sur and Richard M. Murray
| title = Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators
| source = 1997 American Control Conference
| year = 1996
| type = Conference paper
| funding = NSF
| url = http://www.cds.caltech.edu/~murray/preprints/sm97-acc.pdf
| abstract = 
This paper presents a new singular perturbation approach for analysing
flexibility in manipulators. This approach does not treat the flexible
manipulator as a perturbation of the rigid manipulator, and therefore,
allows for significant amounts of flexibility (beyond the linear
range). Analysis based on this approach leads to some provably stable
control schemes for the position and force control of flexible-link
manipulators. Simulation results are presented for a single flexible
manipulator pushing against a wall.

| flags = 
| tag = sm97-acc
| id = 1996q
}}