An experimental comparison of tradeoffs in using compliant manipulators for robotic grasping tasks

Author

Sur, Sudipto ; Murray, Richard M.

Author_Institution

Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1807

Abstract

Controllers developed for control of flexible-link robots in hybrid force-position control tasks by a new singular perturbation analysis of flexible manipulators are implemented on an experimental two-robot grasping setup. Various performance criteria are set up and experimental results are discussed within that setting to show tradeoffs in using flexible link robots for grasping. We conclude that large flexibility can be controlled without too much additional effort, has performance comparable to rigid robots and possesses enhancing properties which make it attractive for use in certain types of applications

Keywords

compliance control; cooperative systems; flexible structures; manipulator dynamics; perturbation techniques; compliant manipulators; flexible-link robots; performance criteria; robotic grasping tasks; singular perturbation analysis; tradeoffs; two-robot grasping setup; Fingers; Force control; Manipulators; Nanoscale devices; Orbital robotics; Performance gain; Robot control; Robustness; Stability; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614415

Filename

614415