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Impedance-based Higher Order Sliding Mode Control for Grasping and Manipulation

Authors:
Rakibul Hasan
Ranjan Vepa
Hasan Shaheed

Keywords: Grasping; Sliding; Impedance; Adaptive; AFIM; HOSM.

Abstract:
Grasping and manipulation by multifingered robot hand is challenging due to the dynamic uncertainties of the hand and the object. The purpose of the grasping and manipulation research is to improve the control performance based on the hand, object and contact model. In this paper, a multifingered hand called The Barrett Hand is chosen for investigation. A mathematical model of the hand is developed using Lagrangian method. Contact model between the hand and object is developed as compliance system assuming that the object stiffness properties are known. Grasping and manipulation control problem is stated as: 1. Object motion and 2. Contact force tracking. Higher Order Sliding Mode (HOSM) control is proposed for motion tracking of the hand joints and object. 2nd order sliding mode law is used to minimise the tracking error considering nonlinear dynamics and uncertainties. Adaptive Force-based Impedance Mode (AFIM) control is proposed to regulate the contact force which drives the desired impedance of the hand-object compliance system. This impedance also generates online reference trajectory for motion tracking according to the contact force. Both control methods are simulated in Simulink/SimMechanics environment. The joint, object and force tracking results are presented and discussed.

Pages: 90 to 96

Copyright: Copyright (c) IARIA, 2014

Publication date: October 12, 2014

Published in: conference

ISSN: 2308-4537

ISBN: 978-1-61208-371-1

Location: Nice, France

Dates: from October 12, 2014 to October 16, 2014