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A variable impedance control strategy for object manipulation considering non-rigid grasp

dc.creatorLogothetis M., Karras G.C., Alevizos K., Kyriakopoulos K.J.en
dc.date.accessioned2023-01-31T08:55:22Z
dc.date.available2023-01-31T08:55:22Z
dc.date.issued2020
dc.identifier10.1109/IROS45743.2020.9341725
dc.identifier.isbn9781728162126
dc.identifier.issn21530858
dc.identifier.urihttp://hdl.handle.net/11615/75983
dc.description.abstractThis paper presents a novel control strategy for the compensation of the slippage effect during non-rigidly grasped object manipulation. A detailed dynamic model of the interconnected system composed of the robotic manipulator, the object and the internal forces and torques induced by the slippage effect is provided. Next, we design a model-based variable impedance control scheme, in order to achieve simultaneously zero convergence for the trajectory tracking error and the slippage velocity of the object. The desired damping and stiffness matrices are formulated online, by taking into account the measurement of the slippage velocity on the contact. A formal Lyapunov-based analysis guarantees the stability and convergence properties of the resulting control scheme. A set of extensive simulation studies clarifies the proposed method and verifies its efficacy. © 2020 IEEE.en
dc.language.isoenen
dc.sourceIEEE International Conference on Intelligent Robots and Systemsen
dc.source.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85102395074&doi=10.1109%2fIROS45743.2020.9341725&partnerID=40&md5=1a14aad0606c259dc7d4a999ed356a8f
dc.subjectAgricultural robotsen
dc.subjectIndustrial manipulatorsen
dc.subjectManipulatorsen
dc.subjectObject trackingen
dc.subjectStiffness matrixen
dc.subjectExtensive simulationsen
dc.subjectLyapunov-based analysisen
dc.subjectObject manipulationen
dc.subjectRobotic manipulatorsen
dc.subjectStability and convergenceen
dc.subjectStiffness matricesen
dc.subjectTrajectory tracking errorsen
dc.subjectVariable impedance controlen
dc.subjectIntelligent robotsen
dc.subjectInstitute of Electrical and Electronics Engineers Inc.en
dc.titleA variable impedance control strategy for object manipulation considering non-rigid graspen
dc.typeconferenceItemen


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