Grasping control of 3-joint dual finger robot

Lyapunov stability approach

Seung Kwan Song, Jin Bae Park, Yoon Ho Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper is concerned with the dynamics and control of grasping and regulating motion generated by a 3- joint dual finger robot. To manipulate an object, the overall motion of the finger needs to be restricted by the object states. Therefore, we derive the kinematics of dual fingers governed by the object states by using four constraints which are based on the nonslipping assumption between the rigid fingertips and the surface of an object. Then, the control input is derived from Lyapunov stability analysis including the dynamics of the overall system. Further, we propose the solution of the contact forces between fingertips and an object based on physical analysis, which can not be solved mathematically. Finally, computer simulations are presented to verify the effectiveness of the proposed concept and method.

Original languageEnglish
Title of host publication2009 American Control Conference, ACC 2009
Pages2879-2884
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 23
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: 2009 Jun 102009 Jun 12

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period09/6/1009/6/12

Fingerprint

Robots
Contacts (fluid mechanics)
Kinematics
Computer simulation

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Song, S. K., Park, J. B., & Choi, Y. H. (2009). Grasping control of 3-joint dual finger robot: Lyapunov stability approach. In 2009 American Control Conference, ACC 2009 (pp. 2879-2884). [5160173] https://doi.org/10.1109/ACC.2009.5160173
Song, Seung Kwan ; Park, Jin Bae ; Choi, Yoon Ho. / Grasping control of 3-joint dual finger robot : Lyapunov stability approach. 2009 American Control Conference, ACC 2009. 2009. pp. 2879-2884
@inproceedings{00bdb8359523406ba04edb544a97978a,
title = "Grasping control of 3-joint dual finger robot: Lyapunov stability approach",
abstract = "This paper is concerned with the dynamics and control of grasping and regulating motion generated by a 3- joint dual finger robot. To manipulate an object, the overall motion of the finger needs to be restricted by the object states. Therefore, we derive the kinematics of dual fingers governed by the object states by using four constraints which are based on the nonslipping assumption between the rigid fingertips and the surface of an object. Then, the control input is derived from Lyapunov stability analysis including the dynamics of the overall system. Further, we propose the solution of the contact forces between fingertips and an object based on physical analysis, which can not be solved mathematically. Finally, computer simulations are presented to verify the effectiveness of the proposed concept and method.",
author = "Song, {Seung Kwan} and Park, {Jin Bae} and Choi, {Yoon Ho}",
year = "2009",
month = "11",
day = "23",
doi = "10.1109/ACC.2009.5160173",
language = "English",
isbn = "9781424445240",
pages = "2879--2884",
booktitle = "2009 American Control Conference, ACC 2009",

}

Song, SK, Park, JB & Choi, YH 2009, Grasping control of 3-joint dual finger robot: Lyapunov stability approach. in 2009 American Control Conference, ACC 2009., 5160173, pp. 2879-2884, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 09/6/10. https://doi.org/10.1109/ACC.2009.5160173

Grasping control of 3-joint dual finger robot : Lyapunov stability approach. / Song, Seung Kwan; Park, Jin Bae; Choi, Yoon Ho.

2009 American Control Conference, ACC 2009. 2009. p. 2879-2884 5160173.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Grasping control of 3-joint dual finger robot

T2 - Lyapunov stability approach

AU - Song, Seung Kwan

AU - Park, Jin Bae

AU - Choi, Yoon Ho

PY - 2009/11/23

Y1 - 2009/11/23

N2 - This paper is concerned with the dynamics and control of grasping and regulating motion generated by a 3- joint dual finger robot. To manipulate an object, the overall motion of the finger needs to be restricted by the object states. Therefore, we derive the kinematics of dual fingers governed by the object states by using four constraints which are based on the nonslipping assumption between the rigid fingertips and the surface of an object. Then, the control input is derived from Lyapunov stability analysis including the dynamics of the overall system. Further, we propose the solution of the contact forces between fingertips and an object based on physical analysis, which can not be solved mathematically. Finally, computer simulations are presented to verify the effectiveness of the proposed concept and method.

AB - This paper is concerned with the dynamics and control of grasping and regulating motion generated by a 3- joint dual finger robot. To manipulate an object, the overall motion of the finger needs to be restricted by the object states. Therefore, we derive the kinematics of dual fingers governed by the object states by using four constraints which are based on the nonslipping assumption between the rigid fingertips and the surface of an object. Then, the control input is derived from Lyapunov stability analysis including the dynamics of the overall system. Further, we propose the solution of the contact forces between fingertips and an object based on physical analysis, which can not be solved mathematically. Finally, computer simulations are presented to verify the effectiveness of the proposed concept and method.

UR - http://www.scopus.com/inward/record.url?scp=70449646607&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70449646607&partnerID=8YFLogxK

U2 - 10.1109/ACC.2009.5160173

DO - 10.1109/ACC.2009.5160173

M3 - Conference contribution

SN - 9781424445240

SP - 2879

EP - 2884

BT - 2009 American Control Conference, ACC 2009

ER -

Song SK, Park JB, Choi YH. Grasping control of 3-joint dual finger robot: Lyapunov stability approach. In 2009 American Control Conference, ACC 2009. 2009. p. 2879-2884. 5160173 https://doi.org/10.1109/ACC.2009.5160173