Knowledge Commons of Institute of Automation,CAS
Optimal grasp force for robotic grasping and in-hand manipulation with impedance control | |
Li XQ(李小青)1![]() ![]() | |
发表期刊 | Assembly Automation
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ISSN | 0144-5154 |
2021 | |
卷号 | 41期号:2页码:208-220 |
摘要 | Purpose– The purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations. Design/methodology/approach– To achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function. Findings– Simulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand. Originality/value– This paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications. |
关键词 | Impedance control In-hand manipulation Grasp force control Grasp quality optimization Robotic grasping Index terms grasp force control |
收录类别 | SCIE |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统决策-控制 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57161 |
专题 | 多模态人工智能系统全国重点实验室 |
作者单位 | 1.School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China 2.School of Automation, University of Science and Technology of China, Hefei, China 3.The State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences Institute of Automation, Beijing, China 4.School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China |
推荐引用方式 GB/T 7714 | Li XQ,Chen ZY,Ma C. Optimal grasp force for robotic grasping and in-hand manipulation with impedance control[J]. Assembly Automation,2021,41(2):208-220. |
APA | Li XQ,Chen ZY,&Ma C.(2021).Optimal grasp force for robotic grasping and in-hand manipulation with impedance control.Assembly Automation,41(2),208-220. |
MLA | Li XQ,et al."Optimal grasp force for robotic grasping and in-hand manipulation with impedance control".Assembly Automation 41.2(2021):208-220. |
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AA_grasp.pdf(1324KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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