Robotic hand posture and compliant grasping control using operational space and integral sliding mode control

This paper establishes a novel approach of robotic hand posture and grasping control. For this purpose, the control uses the operational space approach. This permits the consideration of the shape of the object to be grasped. Thus, the control is split into a task control and a particular optimizing...

Full description

Saved in:
Bibliographic Details
Published inRobotica Vol. 34; no. 10; pp. 2163 - 2185
Main Authors Herrmann, Guido, Jalani, Jamaludin, Mahyuddin, Muhammad Nasiruddin, Khan, Said G, Melhuish, Chris
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.10.2016
Subjects
Online AccessGet full text

Cover

Loading…
More Information
Summary:This paper establishes a novel approach of robotic hand posture and grasping control. For this purpose, the control uses the operational space approach. This permits the consideration of the shape of the object to be grasped. Thus, the control is split into a task control and a particular optimizing posture control. The task controller employs Cylindrical and Spherical coordinate systems due to their simplicity and geometric suitability. This is achieved by using an integral sliding mode controller (ISMC) as task controller. The ISMC allows us to introduce a model reference approach where a virtual mass-spring-damper system can be used to design a compliant trajectory tracking controller. The optimizing posture controller together with the task controller creates a simple approach to obtain pre-grasping/object approach hand postures. The experimental results show that target trajectories can be easily followed by the task control despite the presence of friction and stiction. When the object is grasped, the compliant control will automatically adjust to a specific compliance level due to an augmented compliance parameter adjustment algorithm. Once a specific compliance model has been achieved, the fixed compliance controller can be tested for a specific object grasp scenario. The experimental results prove that the Bristol Elumotion robot hand (BERUL) can automatically and successfully attain different compliance levels for a particular object via the ISMC.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574714002811