In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and occurrence of singularity conditions. The achieved control scheme has been experimentally validated by testing it on a finger of the DLR Hand.
Cartesian Impedance Control for Dexterous Manipulation / Biagiotti, L.; Liu, H.; Hirzinger, G.; Melchiorri, C.. - 4:(2003), pp. 3270-3275. (Intervento presentato al convegno 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Las Vegas, NV, usa nel 2003).
Cartesian Impedance Control for Dexterous Manipulation
Biagiotti, L.;Melchiorri, C.
2003
Abstract
In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and occurrence of singularity conditions. The achieved control scheme has been experimentally validated by testing it on a finger of the DLR Hand.
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