Skip to main content Accessibility help
×
Home

Adaptive manipulation and slippage control of an object in a multi-robot cooperative system

  • Shahram Hadian Jazi (a1), Mehdi Keshmiri (a2), Farid Sheikholeslam (a3), Mostafa Ghobadi Shahreza (a2) and Mohammad Keshmiri (a4)...

Summary

Considering undesired slippage between manipulated object and finger tips of a multi-robot system, adaptive control synthesis of the object grasping and manipulation is addressed in this paper. Although many studies can be found in the literature dealing with grasp analysis and grasp synthesis, most assume no slippage between the finger tips and the object. Slippage can occur for many reasons such as disturbances, uncertainties in parameters, and dynamics of the system. In this paper, system dynamics is analyzed using a new presentation of friction and slippage dynamics. Then an adaptive control law is proposed for trajectory tracking and slippage control of the object as well as compensation for parameter uncertainties of the system, such as mass properties and coefficients of friction. Stability of the proposed adaptive controller is studied analytically and the performance of the system is studied numerically.

Copyright

Corresponding author

*Corresponding author. E-mail: s.hadian@eng.ui.ac.ir

References

Hide All
1.Reuleaux, F., The Kinematics of Machinery (Dover, New York, 1963).
2.Salisbury, J. K. and Roth, B., “Kinematic and force analysis of articulated mechanical hands,” ASME J. Mech. Transmissions Automat. Des. 105 (1), 3541 (1983).
3.Mishra, B., Schwartz, J. T. and Sharir, M., “On the existence and synthesis of multifinger positive grips,” Algorithmica 2, 541558 (1987).
4.Bicchi, A., “On the closure properties of robotic grasping,” Int. J. Robot. Res. 14 (4), 319334 (1995).
5.Bounab, B., Sidobre, D. and Zaatri, A., “Central Axis Approach for Computing n-Finger Force-Closure Grasps,” Proceedings of the IEEE ICRA Conference on Robotics and Automation, Pasadena, CA, USA (May 19–23, 2008) pp. 11691174.
6.Kruger, H. and van der Steppen, A. F., “Partial Closure Grasps: Metrics and Computation,” Proceedings of 2011 IEEE International Conference on Robotics and Automation, Shanghai, China (May 9–13, 2011) pp. 50245030.
7.Park, Y. C. and Starr, G. P., “Grasping synthesis of polygonal objects using a three-fingered robot hand,” Int. J. Robot. Res. 11 (3), 163184 (1992).
8.Tung, C. P. and Kak, A. C., “Fast construction of force-closure grasps,” IEEE Trans. Robot. Automat. 12 (4), 615626 (1996).
9.Cheong, J., Kruger, H. and van der Stappen, A. Frank, “Output-sensitive computation of force-closure grasps of a semi-algebraic object”, IEEE Trans. Automat. Sci. Eng. 8 (3), 495505 (2011).
10.Al-Gallaf, E. M., “A Learning Rule-Based Robotics Hand Optimal Force Closure,” Proceedings of the 2nd International Conference on Computational Intelligence, Communication Systems and Networks, Liverpool, UK (Jul. 28–30, 2010) pp. 6066.
11.Xue, Z., Xia, S., Strand, M., Zoellner, J. M. and Dillmann, R., “A Ray-Shooting Based Quality Measurement for Grasping and Manipulation,” Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand (Dec. 7–11, 2011) pp. 19301935.
12.Krug, R., Dimitrov, D., Charusta, K. and Iliev, B., “On the Efficient Computation of Independent Contact Regions for Force Closure Grasps,” Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan (Oct. 18–22, 2010) pp. 586591.
13.Platt, R. Jr., Fagg, A. H. and Grupen, R. A., “Null-space grasp control: Theory and experiments,” IEEE Trans. Robot. 26 (2), 282295 (2010).
14.Zhu, X. Y. and Wang, J., “Synthesis of force-closure grasps on 3-D objects based on the Q distance,” IEEE Trans. Robot. Automat. 19 (4), 669679 (2003).
15.Platt, R. Jr., Fagg, A. H. and Grupen, R. A., “Nullspace Composition of Control Laws for Grasping,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland (Sep. 30–Oct. 4, 2002) pp. 17171723.
16.Miyabe, T., Yamamo, M., Konno, A. and Uchiyama, M., “An Approach Toward a Robust Object Recovery with Flexible Manipulators,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, USA (Oct. 29–Nov. 3, 2001) pp. 907912.
17.Li, J. W., Liu, H. and Cai, H. G., “On computing three-finger force-closure grasps of 2-D and 3-D objects,” IEEE Trans. Robot. Automat. 19 (1), 155161 (2003).
18.Liu, Y. H., Lam, M. L. and Ding, D., “A complete and efficient algorithm for searching 3-D form-closure grasps in the discrete domain,” IEEE Trans. Robot. 20 (5), 805816 (2004).
19.Kao, I. and Cutkosky, M. R., “Comparison of theoretical and experimental force/motion trajectories for dextrous manipulation with sliding,” Int. J. Robot. Res. 12 (6), 529534 (1993).
20.Chong, N. Y., Choi, D. and Suh, Il. H., “A Generalized Motion Force Planning Strategy for Multi-Fingered Hands Using Both Rolling and Sliding Contacts,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan (Jul. 26–30, 1993) pp. 113120.
21.Cole, A. A., Hsu, P. and Sastry, S. S., “Dynamic control of sliding by robot hands for regrasping,” IEEE Trans. Robot. Automat. 8 (1), 4252 (1992).
22.Zheng, X. Z., Nakashima, R. and Yoshikawa, T., “On dynamic control of finger sliding and object motion in manipulation with multi-fingered hands,” IEEE Trans. Robot. Automat. 16 (5), 469481 (2000).
23.Phoka, T. and Sudsang, A., “Regrasp Planning of Three-Fingered Hand for a Polygonal Object,” Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA (May 3–7, 2010) pp. 43284333.
24.Jazi, S. Hadian, Keshmiri, M. and Sheikholeslam, F., “Dynamic analysis and control synthesis of grasping and slippage of an object manipulated by a robot,” Adv. Robot. 22, 15591584 (2008).
25.Jazi, S. Hadian, Keshmiri, M., Sheikholeslam, F., Shahreza, M. Ghobadi and Keshmiri, Mohammad, “Dynamic analysis and control synthesis of undesired slippage of end-effectors in a cooperative grasping,” Adv. Robot. 26, 16931726 (2012).
26.Lewis, F. L., Abdallah, C. T. and Dawson, D. M., Control of Robot Manipulators (Macmillan, New York, 1993).

Keywords

Adaptive manipulation and slippage control of an object in a multi-robot cooperative system

  • Shahram Hadian Jazi (a1), Mehdi Keshmiri (a2), Farid Sheikholeslam (a3), Mostafa Ghobadi Shahreza (a2) and Mohammad Keshmiri (a4)...

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed