DocumentCode :
3709878
Title :
In-hand manipulation using gravity and controlled slip
Author :
Francisco E. Viña B.;Yiannis Karayiannidis;Karl Pauwels;Christian Smith;Danica Kragic
Author_Institution :
Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology KTH, SE-100 44 Stockholm, Sweden
fYear :
2015
Firstpage :
5636
Lastpage :
5641
Abstract :
In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot´s hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool´s inertial parameters.
Keywords :
"Friction","Robot kinematics","Grippers","Torque","Gravity"
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Type :
conf
DOI :
10.1109/IROS.2015.7354177
Filename :
7354177
Link To Document :
بازگشت