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TECHNICAL PAPERS

Nonlinear Manipulation Control of a Compliant Object by Dual Fingers

[+] Author and Article Information
Z. Doulgeri, A. Golfakis

Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece

J. Dyn. Sys., Meas., Control 128(3), 473-481 (Sep 08, 2005) (9 pages) doi:10.1115/1.2229250 History: Received January 22, 2004; Revised September 08, 2005

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.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Dual fingers manipulating a deformable object

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Figure 2

Left finger-object point contact

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Figure 3

System with object rotation

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Figure 4

Forces applied along the surface normal

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Figure 5

Object position along x and y direction

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Figure 6

Orientation angle of each finger’s last link

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Figure 7

Constraint forces and friction angles for the two fingers (first controller)

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Figure 8

Constraint forces and friction angles for the two fingers (second controller)

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Figure 9

Forces applied along the surface normal

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Figure 10

Object position and orientation

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Figure 11

Orientation angle of each finger’s last link

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Figure 12

Constraint forces and friction angles for the two fingers

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