{"title":"阻抗控制下机器人抓取和手操作的最佳抓取力","authors":"Xiaoqing Li, Ziyu Chen, Chao Ma","doi":"10.1108/AA-11-2020-0180","DOIUrl":null,"url":null,"abstract":"\nPurpose\nThe purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations.\n\n\nDesign/methodology/approach\nTo achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function.\n\n\nFindings\nSimulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand.\n\n\nOriginality/value\nThis paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications.\n","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2021-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Optimal grasp force for robotic grasping and in-hand manipulation with impedance control\",\"authors\":\"Xiaoqing Li, Ziyu Chen, Chao Ma\",\"doi\":\"10.1108/AA-11-2020-0180\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\nPurpose\\nThe purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations.\\n\\n\\nDesign/methodology/approach\\nTo achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function.\\n\\n\\nFindings\\nSimulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand.\\n\\n\\nOriginality/value\\nThis paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications.\\n\",\"PeriodicalId\":55448,\"journal\":{\"name\":\"Assembly Automation\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2021-05-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Assembly Automation\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1108/AA-11-2020-0180\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Assembly Automation","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1108/AA-11-2020-0180","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Optimal grasp force for robotic grasping and in-hand manipulation with impedance control
Purpose
The purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations.
Design/methodology/approach
To achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function.
Findings
Simulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand.
Originality/value
This paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications.
期刊介绍:
Assembly Automation publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of assembly technology and automation, and reflecting the most interesting and strategically important research and development activities from around the world. Because of this, readers can stay at the very forefront of industry developments.
All research articles undergo rigorous double-blind peer review, and the journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations.