Title :
Effect of Virtual Spring-Damper in Grasping and Object Manipulation of a Robotic Hand-Arm System
Author :
Bae, Ji-Hun ; Sekimoto, Masahiro ; Arimoto, Suguru
Author_Institution :
Pohang Inst. of Intelligent Robotics, Gyeongbuk
Abstract :
A simple control method for realizing dynamic object manipulation by a hand-arm system with redundant DOFs is proposed, which need not introduce any performance indices to solve inverse kinematics uniquely and Jacobian pseudoinverse. The proposed control signal is composed of superposition of three control signals for damping shaping, grasping, and object manipulation. It is shown through computer simulations that the proposed control scheme makes satisfactory performances in robotic grasping and object manipulation without employment of any solutions of complex equations, such as inverse kinematics, and the use of any information of sensing such as force and tactile. It is also shown that the damping shaping based on virtual spring-damper hypothesis, which had been proposed for reaching movements of a redundant robot arm, is effective in the damping shaping of a hand-arm system
Keywords :
Jacobian matrices; manipulator kinematics; vibration control; Jacobian pseudoinverse; computer simulation; control signal; inverse kinematics; object manipulation; robotic hand-arm system; virtual spring-damper; Computer simulation; Control systems; Damping; Employment; Force control; Jacobian matrices; Kinematics; Manipulator dynamics; Robot sensing systems; Shape control; Kinematic redundancy; Object manipulation; Reaching movements; Virtual spring-damper hypothesis; Viscosity effects;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315730
