Control of an Object With Parallel Surfaces by a Pair of Finger Robots Without Object Sensing

Ivuta Ozawa; Suguru Arimoto; Shinsuke Nakamura; Ji-Hun Bae

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Control of an Object With Parallel Surfaces by a Pair of Finger Robots Without Object Sensing

机译：一对没有物体感应的手指机器人对具有平行表面的物体的控制

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This paper proposes a method for controlling an ob-rt with parallel surfaces in a horizontal plane by a pair of finger hots. The control method can achieve stable grasping, relative If dentation control, and relative position control of the grasped ob-Pect. The control inputs require neither any object parameters nor Rny object sensing, such as tactile sensors, force sensors, or visual fsensors. The control inputs are also quite simple and do not need to C solve either inverse kinematics or inverse dynamics. The stability of the closed-loop system is proved, and simulation and experimental results validate the control method.

机译：本文提出了一种通过手指加热来控制水平面内具有平行表面的物体的方法。该控制方法可以实现稳定的抓取，相对If齿痕控制和所抓取的Ob-Pect的相对位置控制。控制输入既不需要任何对象参数，也不需要Rny对象感测，例如触觉传感器，力传感器或视觉f传感器。控制输入也非常简单，不需要C求解逆运动学或逆动力学。证明了闭环系统的稳定性，仿真和实验结果验证了该控制方法的有效性。

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来源
《IEEE Transactions on Robotics》 |2005年第5期|p.965-976|共12页
作者
Ivuta Ozawa; Suguru Arimoto; Shinsuke Nakamura; Ji-Hun Bae;
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原文格式 PDF
正文语种 eng
中图分类机器人技术;
关键词
Angle control; Finger robot; No object sensing; Pinching; Position control; Rolling contact;

机译：角度控制;手指机器人;无物体感应;收缩;位置控制;滚动接触;

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机译：流形的稳定性理论：通过一对机器人手指同时实现对物体的抓握和方向控制
2. Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper (Retraction of Vol 82, Pg 177, 2016) [J] . Petkovic Dalibor, Shamshirband Shahaboddin, Anuar Nor Badrul, Journal of Intelligent & Robotic Systems: Theory & Application . 2020,第3a4期

机译：通过兼容多指多指被动自适应机器人夹具（Vol 82，PG 177,2016的缩回）输入位移神经模糊控制和物体识别
3. Modeling and control of planar slippage in object manipulation using robotic soft fingers [J] . Amin Fakhari, Imin Kao, Mehdi Keshmiri ROBOMECH Journal . 2019,第1期

机译：使用机器人柔软手指对象操纵中平面滑动的建模与控制
4. Stable grasping and relative angle control of an object by dual finger robots without object sensing [C] . Ozawa, R., Arimoto, Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on . 2004

机译：双指机器人无需物体感应即可稳定地抓握和控制相对角度
5. Development of impedance-sensing technology and an intelligent control system for robot-automated processing of flexible and natural objects. [D] . Gu, Jianhua Scott. 1999

机译：阻抗感应技术和智能控制系统的开发，用于机器人自动处理柔性和自然物体。
6. Grasping Force Control of Multi-Fingered Robotic Hands through Tactile Sensing for Object Stabilization [O] . Zhen Deng, Yannick Jonetzko, Liwei Zhang, 2020

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7. Surface Estimation of Unknown Objects Using a Robotic Finger with a Resonant End-Effector(Mechanical Systems) [O] . Hirofumi MAEDA, Kiyoshi IOI 2010

机译：用谐振末端效应器（机械系统）使用机器人手指的未知物体的表面估计（机械系统）

Control of an Object With Parallel Surfaces by a Pair of Finger Robots Without Object Sensing

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