NDLI: Real-time control for a zero-gravity robotic end effector

Content Provider	IEEE Xplore Digital Library
Author	Teolis, C.A. Baras, J.S.
Copyright Year	1990
Description	Author affiliation: Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA (Teolis, C.A.; Baras, J.S.)
Abstract	A position controller for the gripper portion of a zero-gravity robotic end effector has been developed and tested. A hybrid force/position controller is used. Sensory data available to the controller are obtained from an array of strain gauges and a linear potentiometer. It was determined that an optimal control exists which transfers the initial finger opening to the desired opening in minimum time. This time optimal control is unique and is constant with value equal to plus or minus maximum armature voltage, the value of the control depending on the relative location of the desired final position. A force controller has been developed and tested which is based only on the holding force, perpendicular to the finger face. In addition, a neural network mapping has been determined to compute contact force and location from the strain data when the tangential force components are constrained to be zero.<>
Starting Page	3138
Ending Page	3142
File Size	520672
Page Count	5
File Format	PDF
DOI	10.1109/CDC.1990.203369
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-12-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	End effectors Force control Optimal control Robot sensing systems Testing Sensor arrays Capacitive sensors Fingers Grippers Force sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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