Adaptive stable grasping control strategy based on slippage detection
ISSN: 0143-991X
Article publication date: 9 April 2021
Issue publication date: 19 August 2021
Abstract
Purpose
The authors want to design an adaptive grasping control strategy without setting the expected contact force in advance to maintain grasping stable, so that the proposed control system can deal with unknown object grasping manipulation tasks.
Design/methodology/approach
The adaptive grasping control strategy is proposed based on bang-bang-like control principle and slippage detection module. The bang-bang-like control method is designed to find and set the expected contact force for the whole control system, and the slippage detection function is achieved by dynamic time warping algorithm.
Findings
The expected contact force can adaptively adjust in grasping tasks to avoid bad effects on the control system by the differences of prior test results or designers. Slippage detection can be recognized in time with variation of expected contact force manipulation environment in the control system. Based on if the slippage caused by an unexpected disturbance happens, the control system can automatically adjust the expected contact force back to the level of the previous stable state after a given time, and has the ability to identify an unnecessary increasing in the expected contact force.
Originality/value
Only contact force is used as feedback variable in control system, and the proposed strategy can save hardware components and electronic circuit components for sensing, reducing the cost and design difficulty of conducting real control system and making it easy to realize in engineering application field. The expected contact force can adaptively adjust due to unknown disturbance and slippage for various grasping manipulation tasks.
Keywords
Acknowledgements
This work is supported by National Key Research and Development Program of China with No. 2018YFB1305603 and Beijing Science and Technology Plan Project No. Z191100008019008. The authors would like to thank embedded engineer Jing Kuang for his help with the tactile sensor developing work.
Citation
Chen, Y. and Sun, F. (2021), "Adaptive stable grasping control strategy based on slippage detection", Industrial Robot, Vol. 48 No. 4, pp. 569-576. https://doi.org/10.1108/IR-01-2021-0024
Publisher
:Emerald Publishing Limited
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