DocumentCode :
3262204
Title :
Opening a door with a redundant impedance controlled robot
Author :
Winiarski, Tomasz ; Banachowicz, Konrad
Author_Institution :
Inst. of Control & Comput. Eng., Warsaw Univ. of Technol., Warsaw, Poland
fYear :
2013
fDate :
3-5 July 2013
Firstpage :
221
Lastpage :
226
Abstract :
Opening a door with a robotic manipulator equipped with a gripper, is a vital problem in service robotics research. This paper presents an approach to opening a cabinet door with an impedance controlled 7-DOF redundant manipulator. A control system is developed that considers redundancy in order to maximise the manipulation capabilities of the manipulator whilst avoiding reaching the joints limits. The control strategy is based on automatically estimating the kinematic parameters of the door. All conducted experiments were based on the assumption that the manipulator pulls a handle and opens a door using a single finger.
Keywords :
doors; grippers; manipulator kinematics; service robots; door opening; gripper; impedance controlled 7-DOF redundant manipulator; kinematic parameters; manipulation capabilities; redundant impedance controlled robot; robotic manipulator; service robotics research; single finger; Estimation; Impedance; Joints; Kinematics; Manipulators; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location :
Kuslin
Print_ISBN :
978-1-4673-5510-0
Type :
conf
DOI :
10.1109/RoMoCo.2013.6614612
Filename :
6614612
Link To Document :
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