A Stable Grasping and Manipulating Control Method Based on Grasp Plane

Author

Hyodo, Shoyo ; Kubo, Ryogo ; Ohnishi, Kouhei

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Kanagawa

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

4030

Lastpage

4035

Abstract

In this paper, a method for dividing grasping and manipulating control into grasp plane control and inside grasp plane control is proposed. Grasp plane control is realized by controlling center of gravity (COG) of three end-effectors and posture of the grasp plane. Inside grasp plane control is realized by controlling grasping shape and contact force which exists on the grasp plane. To avoid any danger entailed by dropping of a grasped object, a method for compensating contact force to a grasped object by external force is also proposed. This external force is estimated from normal force, and this force is not affected by frictional force. Thus, stable grasping and manipulating control taking external force parallel to the grasp plane into account is realized. The validity of the proposed systems is confirmed by the experimental results

Keywords

end effectors; force control; position control; stability; center of gravity; contact force; frictional force; grasp plane control; grasping control method; manipulating control method; posture; three end-effectors; Control systems; Design engineering; Force control; Grasping; Gravity; Humans; Jacobian matrices; Matrix decomposition; Service robots; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.348086

Filename

4153367