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L. Biagiotti, H. Liu, G. Hirzinger, C. Melchiorri
"Cartesian Impedance Control for Dexterous Manipulation"
 
Type Conference
Author(s) L. Biagiotti, H. Liu, G. Hirzinger, C. Melchiorri
Title Cartesian Impedance Control for Dexterous Manipulation
Editor Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems Las Vegas, Nevada, October 2003
Keywords Impedance Control, Cartesian Space, Robot Hands,
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.
Document 7890.Document.pdf (304539 bytes)
Year 2003


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