Adaptive friction compensation for hand grasping and compliant control
Attaining a good positioning control is an important step to be achieved for a robotic hand to safely grasp an object. The safety of the grasped object can be enhanced by providing a compliant control strategy. This paper presents a model reference adaptive compliance controller where a mass spring...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Conference or Workshop Item |
| Published: |
2015
|
| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7323/ http://eprints.uthm.edu.my/7323/1/0143.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | Attaining a good positioning control is an
important step to be achieved for a robotic hand to safely grasp
an object. The safety of the grasped object can be enhanced by
providing a compliant control strategy. This paper presents a
model reference adaptive compliance controller where a mass
spring damper system can be introduced. The performance of
model-based adaptive controller with the effect of friction and
stiction is investigated. A few mathematical models of friction
are considered i.e. static friction (stiction), coulomb friction
(dry friction), viscous friction, drag friction and square root
friction. It is observed that a good positioning and compliant
control are feasible in the presence of friction and stiction in
simulation. It is evident that the level of compliant control can
be achieved during the object grasped |
|---|