Basics of Manipulator

1. Goal

Understand the general framework of manipulator.

From my current understanding, it would include

• Design (general shape etc)

• Control

• Mechanics

How human manipulate? (manipulation without grasping)

• Sliding and environmental contact
• Grasping

For robot

• Grasping
• Non-Grasping

2. From MIT Course

Ch. 8 - Manipulator Control (mit.edu)

1. Assume the object is a point mass
   $$
   \left[\begin{array}{cc}
   m & 0 \
   0 & m
   \end{array}\right] \dot{v}=m\left[\begin{array}{l}
   \ddot{x} \
   \ddot{z}
   \end{array}\right]=\tau_g+\left[\begin{array}{l}
   u_x \
   u_z
   \end{array}\right]+f^{F_c}
   $$

2. Trajectory Tracking

3. Force Control

4. Know the state of robot

5. Measure the contact force

6. stiffness control

7. Hybrid position/force control