DocumentCode :
3525146
Title :
On rolling contact motion by robotic fingers via prescribed performance control
Author :
Doulgeri, Zoe ; Droukas, L.
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
3976
Lastpage :
3981
Abstract :
Dexterity in robot hand object manipulation is irrevocably connected with achieving and maintaining rolling motion and contact at the fingertips. The problem of controlling a robotic fingertip for contact rolling is in this work addressed via the generation of a rolling motion trajectory and the application of a prescribed performance controller that can guarantee contact maintenance and a predefined fast convergence of the rolling tracking error to zero under any contact conditions. A simulation of a five degrees of freedom robot show excellent contact rolling performance even at cases of low friction while alternative controllers lead to contact sliding.
Keywords :
dexterous manipulators; maintenance engineering; mechanical contact; motion control; rolling friction; trajectory control; contact conditions; contact maintenance; contact rolling performance; five degrees of freedom robot; prescribed performance controller; robot hand object manipulation dexterity; robotic fingers; robotic fingertip control; rolling contact motion; rolling motion trajectory generation; rolling tracking error; Maintenance engineering; Robots; Robustness; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631137
Filename :
6631137
Link To Document :
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