A study on multifingered gripper control

Author

Doersam, Th ; Hammerschmidt, O. ; Munoz, L.A.

Author_Institution

Karlsruhe Univ., Germany

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1112

Abstract

In this paper some simple linear and nonlinear controllers for two different multifingered grippers-the Karlsruhe Dexterous Hand, and the Salisbury Hand developed at INRIA-are discussed. Mainly the nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. An adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning of the membership functions. Finally, the used service- and object-oriented approach to ease and accelerate the control system design and software implementation process is outlined

Keywords

adaptive control; control system CAD; friction; fuzzy control; impact (mechanical); manipulators; nonlinear control systems; object-oriented programming; uncertain systems; INRIA; Karlsruhe Dexterous Hand; Salisbury Hand; adaptive fuzzy controller; control system design; controller tuning; impact problem; linear controllers; multifingered gripper control; nonlinear controllers; nonlinear friction; object-oriented approach; plant uncertainties; service-oriented approach; software implementation process; Control nonlinearities; Control systems; Force control; Friction; Grippers; Nonlinear control systems; Object oriented modeling; Pulse width modulation; Robots; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614285

Filename

614285