Title :
A study on multifingered gripper control
Author :
Doersam, Th ; Hammerschmidt, O. ; Munoz, L.A.
Author_Institution :
Karlsruhe Univ., Germany
Abstract :
In this paper some simple linear and nonlinear controllers for two different multifingered grippers-the Karlsruhe Dexterous Hand, and the Salisbury Hand developed at INRIA-are discussed. Mainly the nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. An adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning of the membership functions. Finally, the used service- and object-oriented approach to ease and accelerate the control system design and software implementation process is outlined
Keywords :
adaptive control; control system CAD; friction; fuzzy control; impact (mechanical); manipulators; nonlinear control systems; object-oriented programming; uncertain systems; INRIA; Karlsruhe Dexterous Hand; Salisbury Hand; adaptive fuzzy controller; control system design; controller tuning; impact problem; linear controllers; multifingered gripper control; nonlinear controllers; nonlinear friction; object-oriented approach; plant uncertainties; service-oriented approach; software implementation process; Control nonlinearities; Control systems; Force control; Friction; Grippers; Nonlinear control systems; Object oriented modeling; Pulse width modulation; Robots; Velocity control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614285
