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This paper deals with the application of the sliding mode control technique on the position servo system for a multifingered hand. The configuration of the hand system is described. The state equations of a single finger joint are presented based on dynamic model. Sliding mode controller was also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained...
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, position/force hybrid control of an endeffector of a multi-joint redundant (or nonredundant) robot under a nonholonomic constraint is reinterpreted in terms of ldquosubmersionrdquo in Riemannian geometry. A force control signal...
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