Soft object manipulation by simultaneous control of motion and deformation

Author

Shibata, Mizuho ; Hirai, Shinichi

Author_Institution

Dept. of Robotics, Ritsumeikan Univ., Shiga

fYear

2006

fDate

15-19 May 2006

Firstpage

2460

Lastpage

2465

Abstract

One of features of soft object manipulation is motion during deformation of the soft body. We analyze the stability of soft object manipulation by simultaneous control of motion and deformation. We model and formulate manipulation by simultaneous control of the motion and deformation of soft object. We then use the symmetric linear mass-damper-spring model for a simple analysis of its dynamical behavior. Second, we analyze the stability of the system. Thus, we show that an adequate feedback gain stabilized the system in PID control. This adequate feedback gain ranges between two positive values. The object cannot be stably controlled at too high a gain; neither can, it be regulated at too low a gain since the object is movable. Furthermore, we unravel the features of soft object manipulation by simultaneous control of motion and deformation

Keywords

deformation; feedback; motion control; stability; symmetry; three-term control; vibration control; PID control; adequate feedback gain; deformation control; motion control; soft object manipulation; stability; symmetric linear mass-damper-spring model; Analytical models; Control systems; Elasticity; Feedback; Grasping; Motion analysis; Motion control; Robots; Stability analysis; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642071

Filename

1642071