Title :
Towards achieving rolling contact motion in a spherical robotic fingertip
Author :
Droukas, Leonidas ; Rovithakis, George A. ; Doulgeri, Zoe
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
Abstract :
Dexterity in human hand is connected with the fingertip rolling ability. Controlling the rolling motion of a spherical robot´s tip upon a contacted surface is in this work addressed by solving the control of a wheel´s rolling motion, moving upon the robot tip´s line path. A model free prescribed performance controller of low complexity is proposed guaranteeing the wheel´s rolling under any surface friction conditions. The stability of the closed loop system is proved while simulation results verify the achievement of the wheel´s rolling motion towards a desired target location.
Keywords :
dexterous manipulators; motion control; wheels; closed loop system stability; fingertip rolling ability; human hand dexterity; model free performance controller; robot tip line path; rolling contact motion control; spherical robot´s tip Controlling; spherical robotic fingertip; surface friction conditions; target location; wheel rolling motion control; Force; Friction; Mathematical model; Mobile robots; Trajectory; Wheels; Robotics; Robust control; Rolling contact;
Conference_Titel :
Control and Automation (MED), 2015 23th Mediterranean Conference on
Conference_Location :
Torremolinos
DOI :
10.1109/MED.2015.7158904
