Vijay Kumar - Academia.edu (original) (raw)
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Papers by Vijay Kumar
Autonomous Robots, 2011
In this paper we consider the problem of controlling multiple robots manipulating and transportin... more In this paper we consider the problem of controlling multiple robots manipulating and transporting an object in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the object at a desired pose while respecting bounded tension constraints. Workspace and stability considerations are discussed as well as the effects of actuation and sensing errors on the performance
Autonomous Robots, 2011
In this paper we consider the problem of controlling multiple robots manipulating and transportin... more In this paper we consider the problem of controlling multiple robots manipulating and transporting an object in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the object at a desired pose while respecting bounded tension constraints. Workspace and stability considerations are discussed as well as the effects of actuation and sensing errors on the performance