Optimal control for robot-hand manipulation of an object using dynamic visual servoing

Author

Jara, Carlos A. ; Pomares, Julia ; Candelas, Francisco A. ; Torres, F.

Author_Institution

Dept. of Phys., Univ. of Alicante, Alicante, Spain

fYear

2014

fDate

14-18 Sept. 2014

Firstpage

89

Lastpage

94

Abstract

This paper presents a novel control approach to dynamic visual servo control multi-fingered robotic hands for the manipulation performance of an object. The control approach allows the path tracking of the object motion by means of visual information and takes into account both the dynamics model of the robot hand and the grasping force of the fingertips. In addition, an optimal approach is employed to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the robot fingers´ joints. Finally, authors show experimental verifications on a robotic manipulation system for some of the visual servo controllers derived from the control approach.

Keywords

dexterous manipulators; grippers; object detection; optimal control; path planning; servomechanisms; visual servoing; cost function; dynamic visual servo control multifingered robotic hands; dynamic visual servoing; grasping force; joint space; object manipulation performance; object motion path tracking; optimal control; robot-hand object manipulation; robotic manipulation system; visual servo controllers; Joints; Robot kinematics; Thumb; Trajectory; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Conference_Location

Chicago, IL

Type

conf

DOI

10.1109/IROS.2014.6942545

Filename

6942545