Adaptive friction compensation for hand grasping and compliant control

Author

Sadun, Amirul Syafiq ; Jalani, Jamaludin ; Sukor, Jumadi Abdul

Author_Institution

Dept. of Electr. Eng. Technol., Univ. Tun Hussein Onn Malaysia, Batu Pahat, Malaysia

fYear

2015

Firstpage

365

Lastpage

370

Abstract

Attaining a good positioning control is an important step to be achieved for a robotic hand to safely grasp an object. The safety of the grasped object can be enhanced by providing a compliant control strategy. This paper presents a model reference adaptive compliance controller where a mass spring damper system can be introduced. The performance of model-based adaptive controller with the effect of friction and stiction is investigated. A few mathematical models of friction are considered i.e. static friction (stiction), coulomb friction (dry friction), viscous friction, drag friction and square root friction. It is observed that a good positioning and compliant control are feasible in the presence of friction and stiction in simulation. It is evident that the level of compliant control can be achieved during the object grasped.

Keywords

compliance control; damping; dexterous manipulators; grippers; manipulator dynamics; model reference adaptive control systems; position control; stiction; vibration control; Coulomb friction; adaptive friction compensation; compliant control; drag friction; dry friction; hand grasping control; mass spring damper system; mathematical model; model reference adaptive compliance controller; object grasping; positioning control; robotic hand; square root friction; static friction; stiction; viscous friction; Conferences; Mechatronics; Adaptive Control; Compliant Control; Friction and Stiction; Hand Grasping; Position Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on

Type

conf

DOI

10.1109/AIM.2015.7222559

Filename

7222559