Hybrid closed-loop control of robotic hand regrasping

Author

Schlegl, Thomas ä ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

3026

Abstract

We propose an approach to model a robotic hand as a hybrid discrete-continuous dynamical system. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The hybrid approach yields a comprehensive model of a closed-hoop controller for dextrous (re)grasping. Insights in the closed-loop behavior and compensation strategies for discrete state errors due to object geometry modeling errors are presented. Simulations validate the hybrid systems approach to regrasping

Keywords

closed loop systems; computational geometry; continuous time systems; discrete event systems; error compensation; manipulator dynamics; mechanical variables control; variable structure systems; closed-loop systems; continuous dynamical system; dextrous grasping; discrete event system; error compensation; geometry modeling; hybrid systems; impedance control; manipulators; robotic hand grasping; state errors; variable structure control; Automatic control; Computational modeling; Computer errors; Computer simulation; Fingers; Grasping; Hybrid power systems; Legged locomotion; Robot control; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680890

Filename

680890