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In-Hand Manipulation Using Gravity and Controlled Slip

Francisco Eli Viña Barrientos ; Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik) ; Christian Smith ; Danica Kragic
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2153-0858). Vol. 2015-December (2015), p. 5636-5641.
[Konferensbidrag, refereegranskat]

In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters.



Denna post skapades 2016-01-21. Senast ändrad 2016-04-15.
CPL Pubid: 231092

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Robotteknik och automation
Reglerteknik

Chalmers infrastruktur