Concept for Robust Compliance Control of Robot Fingers

Jamaludin Jalani; G Herrmann; CR Melhuish

Concept for Robust Compliance Control of Robot Fingers

Jamaludin Jalani, G Herrmann, CR Melhuish

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

Abstract

In this study, a preliminary investigation of the compliance control for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers is carried out. The kinematics of each finger have been developed by using the Denavit Hartenberg (DH) method for joint control while the Jacobian for each finger is derived for the implementation of Cartesian control. Moreover, in order to realize the compliance control structure, Integral Sliding mode Controller (ISMC) is adopted which also helps to alleviate nonlinearities and uncertainties in particular friction, stiction and unknown parameters. The ISMC allows for model reference for which a mass-spring damper can be introduced. Moreover, the simulation results show that the ISMC has successfully controlled and introduced the tracking and compliance respectively so that the constrained underactuated BERUL fingers are fully controllable for joint and Cartesian space.

Translated title of the contribution	Concept for Robust Compliance Control of Robot Fingers
Original language	English
Title of host publication	11th Conference Towards Autonomous Robotic Systems
Pages	97 - 102
Number of pages	6
Publication status	Published - Sept 2010

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Name and Venue of Event: Plymouth, UK
Conference Organiser: University of Plymouth

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@inproceedings{a6ccb5c3ed1e4e2bb757cd1e57212bcb,

title = "Concept for Robust Compliance Control of Robot Fingers",

abstract = "In this study, a preliminary investigation of the compliance control for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers is carried out. The kinematics of each finger have been developed by using the Denavit Hartenberg (DH) method for joint control while the Jacobian for each finger is derived for the implementation of Cartesian control. Moreover, in order to realize the compliance control structure, Integral Sliding mode Controller (ISMC) is adopted which also helps to alleviate nonlinearities and uncertainties in particular friction, stiction and unknown parameters. The ISMC allows for model reference for which a mass-spring damper can be introduced. Moreover, the simulation results show that the ISMC has successfully controlled and introduced the tracking and compliance respectively so that the constrained underactuated BERUL fingers are fully controllable for joint and Cartesian space.",

author = "Jamaludin Jalani and G Herrmann and CR Melhuish",

note = "Name and Venue of Event: Plymouth, UK Conference Organiser: University of Plymouth",

year = "2010",

month = sep,

language = "English",

pages = "97 -- 102",

booktitle = "11th Conference Towards Autonomous Robotic Systems",

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TY - GEN

T1 - Concept for Robust Compliance Control of Robot Fingers

AU - Jalani, Jamaludin

AU - Herrmann, G

AU - Melhuish, CR

N1 - Name and Venue of Event: Plymouth, UK Conference Organiser: University of Plymouth

PY - 2010/9

Y1 - 2010/9

N2 - In this study, a preliminary investigation of the compliance control for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers is carried out. The kinematics of each finger have been developed by using the Denavit Hartenberg (DH) method for joint control while the Jacobian for each finger is derived for the implementation of Cartesian control. Moreover, in order to realize the compliance control structure, Integral Sliding mode Controller (ISMC) is adopted which also helps to alleviate nonlinearities and uncertainties in particular friction, stiction and unknown parameters. The ISMC allows for model reference for which a mass-spring damper can be introduced. Moreover, the simulation results show that the ISMC has successfully controlled and introduced the tracking and compliance respectively so that the constrained underactuated BERUL fingers are fully controllable for joint and Cartesian space.

AB - In this study, a preliminary investigation of the compliance control for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers is carried out. The kinematics of each finger have been developed by using the Denavit Hartenberg (DH) method for joint control while the Jacobian for each finger is derived for the implementation of Cartesian control. Moreover, in order to realize the compliance control structure, Integral Sliding mode Controller (ISMC) is adopted which also helps to alleviate nonlinearities and uncertainties in particular friction, stiction and unknown parameters. The ISMC allows for model reference for which a mass-spring damper can be introduced. Moreover, the simulation results show that the ISMC has successfully controlled and introduced the tracking and compliance respectively so that the constrained underactuated BERUL fingers are fully controllable for joint and Cartesian space.

M3 - Conference Contribution (Conference Proceeding)

SP - 97

EP - 102

BT - 11th Conference Towards Autonomous Robotic Systems

ER -

Concept for Robust Compliance Control of Robot Fingers

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