In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.
|Translated title of the contribution||A Novel Approach of Robust Active Compliance for Robot Fingers|
|Title of host publication||FIRA2011 RoboWorld Cup & Congress, Kaohsiung, Taiwan|
|Publication status||Published - 2011|
Bibliographical noteName and Venue of Event: FIRA2011 RoboWorld Cup & Congress, Kaohsiung, Taiwan
Conference Organiser: Federation of International Robotsoccer Association (FIRA)