Dynamic Analysis and Control Synthesis of Undesired Slippage of End-Effectors in a Cooperative Grasping

作者：Jazi Shahram Hadian^*; Keshmiri Mehdi; Sheikholeslam Farid; Shahreza Mostafa Ghobadi; Keshmiri Mohammad

来源：Advanced Robotics, 2012, 26(15): 1693-1726.

DOI：10.1080/01691864.2012.684277

• cooperating system
• object grasping analysis
• slippage control

This paper addresses dynamic analysis and control synthesis of object grasping in a cooperative multirobot system with n-serial manipulators from an undesired slippage point of view. Two control approaches are presented in this article; a modified version of a conventional method in grasp synthesis and a new method based on a new modeling of system dynamics. A new formulation for frictional contact is used in dynamical modeling, where equality and inequality equations of the standard Coulomb friction model are all converted to a single second-order differential equation. A multiphase controller is utilized to control the object trajectory tracking as well as object slippage in the new control approach. Performance and robustness of both approaches are studied numerically. The results show superiority of the new method and its desirable and excellent performance.

• 出版日期2012