Active robot hand compliance using operational space and integral sliding mode control
This paper establishes a novel approach of robust active compliance control for a robot hand via an Integral Sliding Mode Controller (ISMC). The ISMC allows us to introduce a model reference approach where a virtual mass-spring damper system can be used to design a compliant control. In order to all...
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| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/4044/ http://eprints.uthm.edu.my/4044/1/0357.pdf |
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| Summary: | This paper establishes a novel approach of robust
active compliance control for a robot hand via an Integral
Sliding Mode Controller (ISMC). The ISMC allows us to introduce
a model reference approach where a virtual mass-spring
damper system can be used to design a compliant control. In
order to allow for practical grasping, we consider the shape of
the object to be grasped. Hence, the work exploits a grasping
technique via Cylindrical and Spherical coordinate systems due
to their simplicity and geometric suitability. The control uses
the operational space approach. Thus, the control is split into
a task control and a particular optimizing posture control. The
experimental results show that target trajectories can be easily
followed by the task control despite the presence of friction
and stiction while the posture controller maintains a desired
finger posture. When the object is grasped, the compliant
control will automatically adjust to a specific compliance level.
Once a specific compliance model has been achieved, the fixed
compliance controller can be tested for a specific scenario.
The experimental results prove that the BERUL hand can
automatically and successfully attain different compliancy levels
for a particular object via the ISMC. |
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