TY - GEN
T1 - A variable impedance control strategy for object manipulation considering non-rigid grasp
AU - Logothetis, Michalis
AU - Karras, George C.
AU - Alevizos, Konstantinos
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
The research work was supported by the Hellenic Foundation for Research and Innovation (H.F.R.I.) under the First Call for H.F.R.I. Research Projects to support Faculty members and Researchers and the procurement of high-cost research equipment grant (Project Number: HFRI-FM17-466).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - This paper presents a novel control strategy for the compensation of the slippage effect during non-rigidly grasped object manipulation. A detailed dynamic model of the interconnected system composed of the robotic manipulator, the object and the internal forces and torques induced by the slippage effect is provided. Next, we design a model-based variable impedance control scheme, in order to achieve simultaneously zero convergence for the trajectory tracking error and the slippage velocity of the object. The desired damping and stiffness matrices are formulated online, by taking into account the measurement of the slippage velocity on the contact. A formal Lyapunov-based analysis guarantees the stability and convergence properties of the resulting control scheme. A set of extensive simulation studies clarifies the proposed method and verifies its efficacy.
AB - This paper presents a novel control strategy for the compensation of the slippage effect during non-rigidly grasped object manipulation. A detailed dynamic model of the interconnected system composed of the robotic manipulator, the object and the internal forces and torques induced by the slippage effect is provided. Next, we design a model-based variable impedance control scheme, in order to achieve simultaneously zero convergence for the trajectory tracking error and the slippage velocity of the object. The desired damping and stiffness matrices are formulated online, by taking into account the measurement of the slippage velocity on the contact. A formal Lyapunov-based analysis guarantees the stability and convergence properties of the resulting control scheme. A set of extensive simulation studies clarifies the proposed method and verifies its efficacy.
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U2 - 10.1109/IROS45743.2020.9341725
DO - 10.1109/IROS45743.2020.9341725
M3 - Conference contribution
AN - SCOPUS:85102395074
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7411
EP - 7416
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -