Grasping and Position Control for Multi-Fingered Robot Hands with Uncertain Jacobian Matrices.

Chien-Chern Cheah Hyun-Yong Han Sadao Kawamura Suguru Arimoto

Published in: ICRA (1998)

Keyphrases

position control
control theoretic
object manipulation
control architecture
force control
end effector
robotic manipulator
vision system
robot control
singular value decomposition

manipulation tasks
control scheme
closed loop
tactile sensing
degrees of freedom
human hand
robot arm
human robot interaction
robotic systems
control strategies

robot manipulators
control system
mobile robot
visual servoing
feedback loop
sensory motor
computer vision
inverse kinematics
robot navigation
control strategy

motion planning
real time
dc motor
autonomous robots
dynamic model
robotic arm
path planning
autonomous agents
optical flow