Robust Robotic Grasping Based on Nonlinear Force Feedback Control
نویسنده
چکیده
Robotic hands for dexterous manipulation and robust grasping have always been in high demand. Many applications of pneumatic devices are enabled due to recent developments in pneumatic actuation technology, for which previously only electric motors were suitable. Low stiffness and direct drive capabilities of pneumatic actuators enable smooth compliant geared electric motor systems. A new robotic hand was developed to lift an object to a position without losingcontact or slip as fast as possible. A nonlinear force feedback controller is designed to control both the position and velocity of the end effector and the constraint force between the gripper and the environment. Simulation studies were performed to illustrate the efficacy of the developed control method.
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