Cartesian impedance control for dexterous manipulation

Author

Biagiotti, L. ; Liu, H. ; Hirzinger, G. ; Melchiorri, C.

Author_Institution

DEIS, Bologna Univ., Italy

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3270

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249660

Filename

1249660