Modeling and control of planar slippage in object manipulation using robotic soft fingers
| Autor: | Amin Fakhari, Imin Kao, Mehdi Keshmiri |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Soft finger
Slippage modeling Friction limit surface Grasping and manipulation Slippage control Technology Mechanical engineering and machinery TJ1-1570 Control engineering systems. Automatic machinery (General) TJ212-225 Machine design and drawing TJ227-240 Technology (General) T1-995 Industrial engineering. Management engineering T55.4-60.8 Automation T59.5 Information technology T58.5-58.64 |
| Zdroj: | ROBOMECH Journal, Vol 6, Iss 1, Pp 1-11 (2019) |
| Druh dokumentu: | article |
| ISSN: | 2197-4225 |
| DOI: | 10.1186/s40648-019-0143-0 |
| Popis: | Abstract Slippage occurrence has an important roll in stable and robust object grasping and manipulation. However, in majority of prior research on soft finger manipulation, presence of the slippage between fingers and objects has been ignored. In this paper which is a continuation of our prior work, a revised and more general method for dynamic modeling of planar slippage is presented using the concept of friction limit surface. Friction limit surface is utilized to relate contact sliding motions to contact frictional force and moment in a planar contact. In this method, different states of planar contact are replaced with a second-order differential equation. As an example of the proposed method application, dynamic modeling and slippage analysis of object manipulation on a horizontal plane using a three-link soft finger is studied. Then, a controller is designed to reduce and remove the undesired slippage which occurs between the soft finger and object and simultaneously move the object on a predefined desired path. Numerical simulations reveal the acceptable performance of the proposed method and the designed controller. |
| Databáze: | Directory of Open Access Journals |
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