Adaptive manipulation and slippage control of an object in a multi-robot cooperative system

被引：2

作者：

Jazi, Shahram Hadian ^{[1
]}

Keshmiri, Mehdi ^{[2
]}

Sheikholeslam, Farid ^{[3
]}

Shahreza, Mostafa Ghobadi ^{[2
]}

Keshmiri, Mohammad ^{[4
]}

机构：

[1] Univ Isfahan, Dept Engn, Esfahan, Iran

[2] Isfahan Univ Technol, Dept Mech Engn, Esfahan, Iran

[3] Isfahan Univ Technol, Dept Elect & Comp Engn, Esfahan, Iran

[4] Concordia Univ, Montreal, PQ, Canada

来源：

ROBOTICA | 2014年 / 32卷 / 05期

关键词：

Adaptive control; Slippage control; Cooperative robots; Frictional contacts; FORCE-CLOSURE GRASPS; DYNAMIC-ANALYSIS;

D O I：

10.1017/S0263574713001069

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Considering undesired slippage between manipulated object and finger tips of a multi-robot system, adaptive control synthesis of the object grasping and manipulation is addressed in this paper. Although many studies can be found in the literature dealing with grasp analysis and grasp synthesis, most assume no slippage between the finger tips and the object. Slippage can occur for many reasons such as disturbances, uncertainties in parameters, and dynamics of the system. In this paper, system dynamics is analyzed using a new presentation of friction and slippage dynamics. Then an adaptive control law is proposed for trajectory tracking and slippage control of the object as well as compensation for parameter uncertainties of the system, such as mass properties and coefficients of friction. Stability of the proposed adaptive controller is studied analytically and the performance of the system is studied numerically.

引用

页码：783 / 802

页数：20

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