Abstract In order to guarantee that grasping with robot fingers are safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active and robust compliant control technique is proposed by employing an Integral Sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced to enable compliant control. The performance of the ISMC is validated for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for compliance interaction with objects of different softness. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in the robot fingers in particular friction and stiction.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Novel Approach of Robust Active Compliance for Robot Fingers


    Beteiligte:


    Erscheinungsdatum :

    2011-01-01


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A Novel Approach of Robust Active Compliance for Robot Fingers

    Jalani, J. / Khan, S.G. / Herrmann, G. et al. | British Library Conference Proceedings | 2011


    Low-Friction Joint for Robot Fingers

    Ruoff, C. F. | NTRS | 1985


    Compact Tactile Sensors for Robot Fingers

    Martin, Toby B. / Lussy, David / Gaudiano, Frank et al. | NTRS | 2004


    Active Control of Robot Manipulator Compliance

    C. C. Nguyen / F. J. Pooran | NTIS | 1986


    Development of 3-fingers multi-sensory hand for space robot

    Murase, Y. / Ishii, S. / Komada, S. et al. | British Library Online Contents | 1998