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Stability and Modal Control of an Object Grasped by a Multifingered Robot Hand
Author(s) -
AlFahed Nuseirat A.M.,
Hamdan A.M.A.,
Hamdan H.M.A.
Publication year - 1999
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/(sici)1521-4001(199907)79:7<473::aid-zamm473>3.0.co;2-7
Subject(s) - observability , controllability , control theory (sociology) , singular value decomposition , modal , eigenvalues and eigenvectors , singular value , stability (learning theory) , matrix (chemical analysis) , mathematics , object (grammar) , measure (data warehouse) , robot , state (computer science) , computer science , artificial intelligence , control (management) , algorithm , physics , chemistry , materials science , quantum mechanics , machine learning , polymer chemistry , composite material , database
A linearized model of the dynamics of a robot hand‐object system is studied using concepts and techniques popular in power system applications. The state variables most responsible for instability are identified using participation factors calculated from the entries of right and left eigenvectors of the state matrix A . Furthermore, singular value decomposition (SVD) of appropriate input and output matrices is used to achieve measure of modal controllability and observability of the system.