Name
Abstract | ||
|---|---|---|
Dexterity in robot hand object manipulation is irrevocably connected with achieving and maintaining rolling motion and contact at the fingertips. The problem of controlling a robotic fingertip for contact rolling is in this work addressed via the generation of a rolling motion trajectory and the application of a prescribed performance controller that can guarantee contact maintenance and a predefined fast convergence of the rolling tracking error to zero under any contact conditions. A simulation of a five degrees of freedom robot show excellent contact rolling performance even at cases of low friction while alternative controllers lead to contact sliding. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6631137 | Robotics and Automation |
Keywords | Field | DocType |
dexterous manipulators,maintenance engineering,mechanical contact,motion control,rolling friction,trajectory control,contact conditions,contact maintenance,contact rolling performance,five degrees of freedom robot,prescribed performance controller,robot hand object manipulation dexterity,robotic fingers,robotic fingertip control,rolling contact motion,rolling motion trajectory generation,rolling tracking error | Convergence (routing),Control theory,Motion control,Simulation,Control theory,Control engineering,Engineering,Rolling resistance,Robot,Maintenance engineering,Trajectory,Tracking error | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-4673-5641-1 | 5 | 0.46 |
References | Authors | |
7 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zoe Doulgeri | 1 | 332 | 47.11 |
| Leonidas Droukas | 2 | 9 | 2.20 |