Cartesian impedance control for dexterous manipulation

In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and occurrence of singularity conditions. The achieved control scheme bas been experimentally validated by testing it on a finger of the DLR Hand.

[1]  Bruno Siciliano,et al.  Modelling and Control of Robot Manipulators , 1997, Advanced Textbooks in Control and Signal Processing.

[2]  Jan F. Broenink,et al.  A spatial impedance controller for robotic manipulation , 1997, IEEE Trans. Robotics Autom..

[3]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[4]  B. Achiriloaie,et al.  VI REFERENCES , 1961 .

[5]  Stefano Stramigioli,et al.  From differentiable manifold to interactive robot control , 1998 .

[6]  Alin Albu-Schäffer,et al.  Cartesian impedance control techniques for torque controlled light-weight robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  Neville Hogan,et al.  On the stability of manipulators performing contact tasks , 1988, IEEE J. Robotics Autom..

[8]  L. Siciliano Modelling and Control of Robot Manipulators , 2000 .

[9]  N. Hogan,et al.  Impedance Control:An Approach to Manipulation,Parts I,II,III , 1985 .

[10]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[11]  F.L. Lewis,et al.  Robust Force Control of a Robot Manipulator , 1990, 1990 American Control Conference.