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Robust contact force controller for slip prevention in a robotic gripper

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journal contribution
posted on 14.06.2013 by Michael D. O'Toole, Kaddour Bouazza-Marouf, David Kerr, Michael Vloeberghs
Grasping a soft or fragile object requires the use of minimum contact force to prevent damage or deformation. Without precise knowledge of object parameters, real-time feedback control must be used with a suitable slip sensor to regulate the contact force and prevent slip. Furthermore, the controller must be designed to have good performance characteristics to rapidly modulate the fingertip contact force in response to a slip event. In this paper, a fuzzy sliding mode controller combined with a disturbance observer is proposed for contact force control and slip prevention. The controller is based on a system model that is suitable for a wide class of robotic gripper configurations. The robustness of the controller is evaluated through both simulation and experiment. The control scheme was found to be effective and robust to parameter uncertainty. When tested on a real system, however, chattering phenomena, well known to sliding mode research, was induced by the unmodelled suboptimal components of the system (filtering, backlash, and time delays), and the controller performance was reduced.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

O'TOOLE, M. ... et al., 2010. Robust contact force controller for slip prevention in a robotic gripper. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 224 (3), pp. 275 - 288.

Publisher

© IMechE

Version

VoR (Version of Record)

Publication date

2010

Notes

This article was published in the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE].

ISSN

0959-6518

Language

en

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