Force/Position/Rolling Control For Spherical Tip Robotic Fingers
Paper i proceeding, 2015

The rolling motion of a soft robotic fingertip is in this paper explicitly included in the control objectives together with the force/position regulation targets. A model based control law is proposed to linearize and decouple the system with respect to the force/position and sliding dynamics based on an appropriately defined task Jacobian. The controller is validated by simulations including rolling on a stationary surface and graspless manipulation of a flat object.

Författare

Leonidas Droukas

Aristotle University of Thessaloniki

Yiannis Karayiannidis

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Zoe Doulgeri

Aristotle University of Thessaloniki

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0866 (eISSN)

858-863

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/IROS.2015.7353472

ISBN

978-1-4799-9994-1