An Adaptive Control Based Approach for Gripping Novel Objects with Minimal Grasping Force
Year: 2018
Type: conference-paper
Abstract: This paper presents the design, analysis, and experimental implementation of an adaptive control to facilitate 1-click grasping of novel objects by a robotic gripper. Motivated by a desire to obtain a reduced-order controller, a previously developed grasp model is reparameterized to design an adaptive backstepping controller. A Lyapunov-based analysis is utilized to show asymptotic convergence of the object slip velocity to the origin. Furthermore, the analysis shows that the closed-loop controller is able to estimate the minimal steady-state force required to grasp the object. Simulation and experiment results both show that the object is immobilized within the gripper without any significant deformation.
Authors: Mushtaq Al-Mohammed, Z. Ding, P. Liu, A. Behal
Institution: University of Central Florida
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2888910271