A Novel Approach of Robust Active Compliance for Robot Fingers

J Jalani; SG Khan; G Herrmann; CR Melhuish

doi:10.1007/978-3-642-23147-6_7

A Novel Approach of Robust Active Compliance for Robot Fingers

J Jalani, SG Khan, G Herrmann, CR Melhuish

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.

Original language	English
Title of host publication	Next Wave in Robotics
Editors	T.H. Li, K.Y. Tu, C.C. Tsai, C.C. Hsu, C.C. Tseng, P. Vadakkepat, J. Baltes, J. Anderson, C.C. Wong, N. Jesse, C.H. Kuo, H.-C. Yang
Publisher	Springer Nature
Pages	50-57
Number of pages	8
ISBN (Print)	9783642231469
DOIs	https://doi.org/10.1007/978-3-642-23147-6_7
Publication status	Published - 2011

Keywords

Integral sliding mode controller
active compliance tool
underactuated robot fingers
Robust control

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10.1007/978-3-642-23147-6_7

Cite this

Jalani, J., Khan, SG., Herrmann, G., & Melhuish, CR. (2011). A Novel Approach of Robust Active Compliance for Robot Fingers. In T. H. Li, K. Y. Tu, C. C. Tsai, C. C. Hsu, C. C. Tseng, P. Vadakkepat, J. Baltes, J. Anderson, C. C. Wong, N. Jesse, C. H. Kuo, & H-C. Yang (Eds.), Next Wave in Robotics (pp. 50-57). Springer Nature. https://doi.org/10.1007/978-3-642-23147-6_7

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abstract = "In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.",

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author = "J Jalani and SG Khan and G Herrmann and CR Melhuish",

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A Novel Approach of Robust Active Compliance for Robot Fingers. / Jalani, J; Khan, SG; Herrmann, G et al.

Next Wave in Robotics. ed. / T.H. Li; K.Y. Tu; C.C. Tsai; C.C. Hsu; C.C. Tseng; P. Vadakkepat; J. Baltes; J. Anderson; C.C. Wong; N. Jesse; C.H. Kuo; H.-C. Yang. Springer Nature, 2011. p. 50-57.

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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A Novel Approach of Robust Active Compliance for Robot Fingers

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Keywords

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