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Adaptive manipulation and slippage control of an object in a multi-robot cooperative system

Published online by Cambridge University Press:  03 December 2013

Shahram Hadian Jazi,
Mehdi Keshmiri,
Farid Sheikholeslam,
Mostafa Ghobadi Shahreza and
Mohammad Keshmiri
Shahram Hadian Jazi*
Affiliation:
Engineering Department, University of Isfahan, Isfahan, Iran
Mehdi Keshmiri
Affiliation:
Department of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran
Farid Sheikholeslam
Affiliation:
Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran
Mostafa Ghobadi Shahreza
Affiliation:
Department of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran
Mohammad Keshmiri
Affiliation:
Mechanical and Industrial Engineering, Concordia University, Montreal, Canada
*
*Corresponding author. E-mail: s.hadian@eng.ui.ac.ir
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Summary

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Considering undesired slippage between manipulated object and finger tips of a multi-robot system, adaptive control synthesis of the object grasping and manipulation is addressed in this paper. Although many studies can be found in the literature dealing with grasp analysis and grasp synthesis, most assume no slippage between the finger tips and the object. Slippage can occur for many reasons such as disturbances, uncertainties in parameters, and dynamics of the system. In this paper, system dynamics is analyzed using a new presentation of friction and slippage dynamics. Then an adaptive control law is proposed for trajectory tracking and slippage control of the object as well as compensation for parameter uncertainties of the system, such as mass properties and coefficients of friction. Stability of the proposed adaptive controller is studied analytically and the performance of the system is studied numerically.

Keywords

Adaptive controlSlippage controlCooperative robotsFrictional contacts

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 5 , August 2014, pp. 783 - 802
Copyright
Copyright © Cambridge University Press 2013 

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