Adaptive Friction Compensation for Hand Grasping and Compliant Control

被引：0

作者：

Sadun, Amirul Syafiq ^{[1
]}

Jalani, Jamaludin ^{[1
]}

Sukor, Jumadi Abdul ^{[1
]}

机构：

[1] Univ Tun Hussein Onn Malaysia, Dept Elect Engn Technol, Fac Engn Technol, Batu Pahat Johor, Malaysia

来源：

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2015年

关键词：

Friction and Stiction; Adaptive Control; Compliant Control; Hand Grasping and Position Control;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Attaining a good positioning control is an important step to be achieved for a robotic hand to safely grasp an object. The safety of the grasped object can be enhanced by providing a compliant control strategy. This paper presents a model reference adaptive compliance controller where a mass spring damper system can be introduced. The performance of model-based adaptive controller with the effect of friction and stiction is investigated. A few mathematical models of friction are considered i.e. static friction (stiction), coulomb friction (dry friction), viscous friction, drag friction and square root friction. It is observed that a good positioning and compliant control are feasible in the presence of friction and stiction in simulation. It is evident that the level of compliant control can be achieved during the object grasped.

引用

页码：365 / 370

页数：6

共 50 条

[31] Adaptive high precision position control of servo actuator with friction compensation using LuGre model [J].

邵志宇 ;

方东洋 ;

张晓东 .

Journal of Beijing Institute of Technology, 2011, 20 (01) :105-110

[32] High Performance Adaptive Control of Mechanical Servo System With LuGre Friction Model: Identification and Compensation [J].

Wang, Xingjian ;

Wang, Shaoping .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2012, 134 (01)

[33] Adaptive friction compensation in mechanisms using the Dahl model [J].

Kelly, R ;

Santibañez, V ;

González, E .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2004, 218 (I1) :53-57

[34] Adaptive Friction Compensation of a Linear Voice Coil Servomotor [J].

Takrouri, Mohannad ;

Dhaouadi, Rached .

2018 20TH EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE'18 ECCE EUROPE), 2018,

[35] Performance enhancing adaptive friction compensation for uncertain systems [J].

Baril, CG ;

Gutman, PO .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1997, 5 (05) :466-479

[36] Adaptive Friction Compensation for Mechanical Systems with Unknown Deadzone [J].

Cai, Jianping ;

Zhang, Yijun .

COMPUTER-AIDED DESIGN, MANUFACTURING, MODELING AND SIMULATION, PTS 1-2, 2011, 88-89 :652-656

[37] Hand-use and tool-use in grasping control [J].

Itaguchi, Yoshihiro ;

Fukuzawa, Kazuyoshi .

EXPERIMENTAL BRAIN RESEARCH, 2014, 232 (11) :3613-3622

[38] Adaptive Impedance Based Force and Position Control for Pneumatic Compliant System [J].

Dong, Wenbo ;

Guan, Renhe ;

Yuan, Letian ;

Gu, Xiaoliang ;

Anwar, Ali ;

Lin, Weiyang .

IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2017, :2949-2954

[39] Friction Modeling and Compensation in Mechanical Motion Control [J].

Uchiyama, Naoki ;

Takagi, Shoji .

JOURNAL OF JAPANESE SOCIETY OF TRIBOLOGISTS, 2009, 54 (05) :313-318

[40] Obsever based friction compensation in robot control [J].

Mu, DJ ;

Wang, HR ;

Wang, X ;

Wei, LX .

PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2004, :401-405

← 1 2 3 4 5 →