Full Content is available to subscribers

Subscribe/Learn More  >

Control of Position and Grasping Force With Cooperating Arms: A Feedback Linearization Approach

[+] Author Affiliations
So-Ryeok Oh, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. IMECE2002-33124, pp. 297-301; 5 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


Robotic applications require coordination of multiple manipulators. This paper discusses an approach for control of manipulators with given end-effector stiffness properties. The approach is designed for concurrent regulation of position of a work piece and grasping force applied by the manipulators on the work piece. The approach is based on input-output feedback linearization. Simulations demonstrate feasibility of the proposed control scheme.

Copyright © 2002 by ASME
Topics: Force , Grasping , Feedback



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In