Title :
Cartesian impedance control for dexterous manipulation
Author :
Biagiotti, L. ; Liu, H. ; Hirzinger, G. ; Melchiorri, C.
Author_Institution :
DEIS, Bologna Univ., Italy
Abstract :
In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and occurrence of singularity conditions. The achieved control scheme bas been experimentally validated by testing it on a finger of the DLR Hand.
Keywords :
dexterous manipulators; friction; manipulator dynamics; manipulator kinematics; mechanical variables control; position control; robust control; Cartesian impedance control; DLR hand; dexterous manipulation; friction; kinematic structure; position control; robot performances; sensory equipment; singularity conditions; unmodeled dynamics; Control systems; Fingers; Force control; Impedance; Kinematics; Manipulator dynamics; Orbital robotics; Robot sensing systems; Testing; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249660
