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

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