S.H. Jazi, M. Keshmiri, and F. Sheikholeslam (Iran)
Frictional grasping, Slippage control, Simulation, Modeling.
Almost all of the researches on object grasping by manipulators and cooperating robots consider no slippage between end-effectors and object, however it can occur. This paper presents dynamics analysis and control synthesis of a manipulator moving an object on a horizontal surface using contact force of end-effector considering slipping condition. Equality and inequality equations of frictional contact conditions are replaced by a single second order differential equation with switching coefficients in order to facilitate the dynamical modeling. Using this modeling of friction, a set of reduced order form is obtained for equations of motion of the system and a new method is proposed to control end-effector slippage on the object.
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