1. In-hand manipulation using gravity and controlled slip
- Author
-
Yiannis Karayiannidis, Karl Pauwels, Christian Smith, E B Francisco Vina, and Danica Kragic
- Subjects
robotics ,0209 industrial biotechnology ,Robot kinematics ,Engineering ,Angular displacement ,business.industry ,in-hand manipulation ,020208 electrical & electronic engineering ,GRASP ,friction ,02 engineering and technology ,Revolute joint ,extrinsic dexterity ,slip ,Computer Science::Robotics ,020901 industrial engineering & automation ,Robotteknik och automation ,Control theory ,Grippers ,manipulation ,0202 electrical engineering, electronic engineering, information engineering ,Torque ,Slippage ,business ,Simulation - Abstract
In this work we propose a sliding mode controllerfor in-hand manipulation that repositions a tool in the robot’shand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch graspand we model the system as a link attached to the grippervia a passive revolute joint with friction, i.e., the grasp onlyaffords rotational motions of the tool around a given axis ofrotation. The robot controls the slippage by varying the openingbetween the fingers in order to allow the tool to move tothe desired angular position following a reference trajectory.We show experimentally how the proposed controller achievesconvergence to the desired tool orientation under variations ofthe tool’s inertial parameters. QC 20160112
- Published
- 2015