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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ikeda, A. Kurita, Y. Ueda, J. Matsumoto, Y. Ogasawara, T. |
| Copyright Year | 2004 |
| Description | Author affiliation: Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan (Ikeda, A.; Kurita, Y.; Ueda, J.; Matsumoto, Y.; Ogasawara, T.) |
| Abstract | In this paper, a grip-force control of an elastic object is proposed based on a visual slip margin feedback. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called "incipient slip" occurs on the contact surface. The slip margin between an elastic object and a rigid plate is estimated based on the analytic solution of Hertzian contact model. A 1 DOF gripper consists of a camera and a force sensor is developed. The slip margin can be estimated from the tangential force measured by a force sensor, the deformation of the elastic object and the radius on the contact area both measured by a camera. In the proposed method, the friction coefficient is not explicitly needed. The grip force is controlled by a direct feedback of the estimated slip margin, whose stability is analytically guaranteed. As a result, the slip margin is maintained to a desired value without occurring the gross slip against a disturbance load force to the object. |
| Starting Page | 810 |
| Ending Page | 815 |
| File Size | 424175 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780384636 |
| DOI | 10.1109/IROS.2004.1389452 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2004-09-28 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Force control Fingers Force feedback Force sensors Force measurement Cameras Area measurement Grippers Friction Stability analysis |
| Content Type | Text |
| Resource Type | Article |
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