Abstract: The decomposition of forces on an object grasped by multiple manipulators is analyzed using the theory of metric spaces and generalized inverses.
A common theoretical framework is proposed in this paper which solves the decomposition problem for rigid, palm-type, and frictional point-contact grasps ...
Abstract: The decomposition of forces on an object grasped by multiple manipulators is analyzed using the theory of metric spaces and generalized inverses.
Robert G. Bonitz, Tien C. Hsia: Force Decomposition in Cooperating Manipulators Using the Theory of Metric Spaces and Generalized Inverses.
R.G. Bonitz, T.C. Hsia: Force decomposition in cooperating manipulators using the theory of metric spaces and generalized inverses, Proc. 1994 IEEE Int ...
This chapter is devoted to cooperative manipulation of a common object by means of two or more robotic arms. The chapter opens with a historical overview of ...
1989. [17] R. Bonitz and T. Hsia, \Force decomposition in cooperating manipulators using the theory of metric spaces and generalized inverses ...
Bonitz, R.G.; Hsia, T.C. Force decomposition in cooperating manipulators using the theory of metric spaces and generalized inverses. In Proceedings of the ...
We propose a modification of known force decomposition analysis that generalizes to enveloping grasping. The results of the proposed technique provide a basis ...
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A Theory of Generalized Inverses Applied to Robotics - Sage Journals
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Review of pseudo-inverse control for use with kinematically redundant manipulators. ... Force decomposition in cooperating manipulators using the theory of me...