Control of an object with parallel surfaces by a pair of finger robots without object sensing
Control of an object with parallel surfaces by a pair of finger robots without object sensing
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DOI：
10.1109/tro.2005.852263
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发表时间：
2005-10-01
影响因子：
7.8
通讯作者：
Bae, JH
中科院分区：
文献类型：
--
作者：
Ozawa, R;Arimoto, S;Bae, JH
本文提出了一种由一对手指机器人控制水平面内具有平行表面的物体的方法。该控制方法可以实现被抓取物体的稳定抓取、相对方位控制和相对位置控制。控制输入既不需要任何对象参数，也不需要任何对象感测，例如触觉传感器、力传感器或视觉传感器。控制输入也非常简单，不需要求解逆运动学或逆动力学。证明了闭环系统的稳定性，仿真和实验结果验证了控制方法的有效性。
This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile sensors, force sensors, or visual sensors. The control inputs are also quite simple and do not need to solve either inverse kinematics or inverse dynamics. The stability of the closed-loop system is proved, and simulation and experimental results validate the control method.