In-Hand Manipulation Using Gravity and Controlled Slip
Paper in proceeding, 2015

In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters.

Author

Francisco Eli Viña Barrientos

Royal Institute of Technology (KTH)

Yiannis Karayiannidis

Chalmers, Signals and Systems, Systems and control

K. Pauwels

Royal Institute of Technology (KTH)

C. Smith

Royal Institute of Technology (KTH)

D. Kragic

Royal Institute of Technology (KTH)

IEEE International Conference on Intelligent Robots and Systems

21530858 (ISSN) 21530866 (eISSN)

Vol. 2015-December 5636-5641
978-1-4799-9994-1 (ISBN)

Subject Categories

Robotics

Control Engineering

DOI

10.1109/IROS.2015.7354177

ISBN

978-1-4799-9994-1

More information

Latest update

1/3/2024 9