Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation

Seung Kwan Song, Jin Bae Park, Yoon Ho Choi

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

Abstract

This paper proposes a method for controlling an object with arbitrarily smooth surfaces in a horizontal plane by a dual-fingered robots. The proposed control method achieves both (a) the stable grasping with the optimal force angles, in order to lower the probability of the object slipping out of the finger-tips, and (b) the position regulation without visual sensing. The shape of an object is not limited as long as the contact point is positioned in the vicinity of the smooth curvatures since the controller is allowed to use the tactile sensor. We analyze the dynamic stability of the proposed control method via Lyapunov stability theory. Finally, simulation results are presented to validate the proposed control method.

Original languageEnglish
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages563-569
Number of pages7
Publication statusPublished - 2011 Sep 29
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: 2011 Jun 292011 Jul 1

Other

Other2011 American Control Conference, ACC 2011
CountryUnited States
CitySan Francisco, CA
Period11/6/2911/7/1

Fingerprint

End effectors
Robots
Point contacts
Controllers
Sensors

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Song, S. K., Park, J. B., & Choi, Y. H. (2011). Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation. In Proceedings of the 2011 American Control Conference, ACC 2011 (pp. 563-569). [5991223]
Song, Seung Kwan ; Park, Jin Bae ; Choi, Yoon Ho. / Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation. Proceedings of the 2011 American Control Conference, ACC 2011. 2011. pp. 563-569
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Song, SK, Park, JB & Choi, YH 2011, Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation. in Proceedings of the 2011 American Control Conference, ACC 2011., 5991223, pp. 563-569, 2011 American Control Conference, ACC 2011, San Francisco, CA, United States, 11/6/29.

Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation. / Song, Seung Kwan; Park, Jin Bae; Choi, Yoon Ho.

Proceedings of the 2011 American Control Conference, ACC 2011. 2011. p. 563-569 5991223.

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

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Song SK, Park JB, Choi YH. Stable grasping control method of dual-fingered robot hands for force angle optimization and position regulation. In Proceedings of the 2011 American Control Conference, ACC 2011. 2011. p. 563-569. 5991223