TY - GEN
T1 - Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation
AU - Song, Seung Kwan
AU - Park, Jin Bae
AU - Choi, Yoon Ho
PY - 2011
Y1 - 2011
N2 - This paper proposes a method for controlling an object with arbitrarily smooth surfaces in a horizontal plane by a dual-fingered robots. The proposed control method achieves both (a) the stable grasping with the optimal force angles, in order to lower the probability of the object slipping out of the finger-tips, and (b) the position regulation without visual sensing. The shape of an object is not limited as long as the contact point is positioned in the vicinity of the smooth curvatures since the controller is allowed to use the tactile sensor. We analyze the dynamic stability of the proposed control method via Lyapunov stability theory. Finally, simulation results are presented to validate the proposed control method.
AB - This paper proposes a method for controlling an object with arbitrarily smooth surfaces in a horizontal plane by a dual-fingered robots. The proposed control method achieves both (a) the stable grasping with the optimal force angles, in order to lower the probability of the object slipping out of the finger-tips, and (b) the position regulation without visual sensing. The shape of an object is not limited as long as the contact point is positioned in the vicinity of the smooth curvatures since the controller is allowed to use the tactile sensor. We analyze the dynamic stability of the proposed control method via Lyapunov stability theory. Finally, simulation results are presented to validate the proposed control method.
UR - http://www.scopus.com/inward/record.url?scp=80053157538&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:80053157538
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 563
EP - 569
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -