Control of Position and Grasping Force With Cooperating Arms: A Feedback Linearization Approach

2002 ◽  
Author(s):  
So-Ryeok Oh ◽  
Sunil K. Agrawal
Keyword(s):  
Output Feedback ◽  
Feedback Linearization ◽  
Work Piece ◽  
End Effector ◽  
Stiffness Properties ◽  
Control Scheme ◽  
Grasping Force ◽  
Feedback Linearization Approach ◽  
Robotic Applications ◽  
Multiple Manipulators

Robotic applications require coordination of multiple manipulators. This paper discusses an approach for control of manipulators with given end-effector stiffness properties. The approach is designed for concurrent regulation of position of a work piece and grasping force applied by the manipulators on the work piece. The approach is based on input-output feedback linearization. Simulations demonstrate feasibility of the proposed control scheme.

Nonlinear Manipulation Control of a Compliant Object by Dual Fingers

2005 ◽  
Vol 128 (3) ◽  
pp. 473-481 ◽  
Author(s):  
Z. Doulgeri ◽  
A. Golfakis
Keyword(s):  
Output Feedback ◽  
Feedback Linearization ◽  
Point Contact ◽  
Contact Forces ◽  
Constraint Forces ◽  
Planar Case ◽  
Grasping Force ◽  
Simulation Results ◽  
Output Transformation ◽  
Linearization Techniques

This paper refers to the control of the position and contact forces of a compliant rectangular object grasped by a pair of robot fingers for the planar case, using input-output feedback linearization techniques. Point contact with friction is assumed and the linearizing control is designed for the case of controlling the object position and grasping force and then extended to include the constraint forces and the object orientation. In the last case, an appropriate output transformation is proposed to avoid the singularity of the decoupling matrix and apply the method successfully. This work considers the planar case and provides simulation results that confirm the theoretical findings.

Platoon Control Under a Novel Leader and Predecessor Following Scheme With the Use of an Advanced Aerodynamic Model

2017 ◽  
Vol 140 (4) ◽  
Author(s):  
Hakan Köroğlu ◽  
Maryam Mirzaei ◽  
Paolo Falcone ◽  
Siniša Krajnović
Keyword(s):  
Feedback Linearization ◽  
Fluid Dynamic ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Dynamic Simulations ◽  
Aerodynamic Model ◽  
Control Scheme ◽  
Wide Range ◽  
Vehicle Platoon ◽  
Feedback Linearization Approach

The longitudinal platoon control problem is considered under a leader and predecessor following scheme with a novel velocity-dependent spacing policy. With this spacing policy, the steady-state intervehicle distances increase with increasing cruise velocity and more so for vehicles that are closer to the leader. Since significant changes might be encountered in intervehicle distances during the travel due to the variations in the velocity of the leader, the problem is studied together with a more accurate modeling of aerodynamic effects within a platoon formation. Based on a standard feedback linearization approach, a dynamic output feedback synthesis problem is formulated with two H∞ performance objectives. One of the performance objectives is linked to the string stability of the platoon formation, while the other can be shaped in a way to maintain small spacing errors without aggressive vehicle maneuvers. A synthesis procedure is then outlined based on linear matrix inequality optimization (LMI). The new control scheme is investigated for a three-vehicle platoon by using an advanced aerodynamic model developed based on extensive fluid dynamic simulations. It is observed in this investigation that a desirable platoon operation can be achieved even with a simple aerodynamic model, provided that the controller is designed in a way to ensure good disturbance attenuation. Nevertheless, an accurate modeling of aerodynamic disturbances might be needed especially for the first vehicle after the leader when the cruising velocity varies over a wide range.

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

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