An Adaptive Control Based Approach For Gripping Novel Objects With Minimal Grasping Force

Abstract

This paper presents the design, analysis, and experimental implementation of an adaptive control to facilitate 1-click grasping of novel objects by a robotic gripper. Motivated by a desire to obtain a reduced-order controller, a previously developed grasp model is reparameterized to design an adaptive backstepping controller. A Lyapunov-based analysis is utilized to show asymptotic convergence of the object slip velocity to the origin. Furthermore, the analysis shows that the closed-loop controller is able to estimate the minimal steady-state force required to grasp the object. Simulation and experiment results both show that the object is immobilized within the gripper without any significant deformation.

Publication Date

8-21-2018

Publication Title

IEEE International Conference on Control and Automation, ICCA

Volume

2018-June

Number of Pages

1040-1045

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/ICCA.2018.8444179

Socpus ID

85053104376 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85053104376

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