Slip compensated manipulation with cooperating multiple robots

Khalid Munawar, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    4 Citations (Scopus)


    Cooperating multiple robots may experience slips between their end-effectors and the object when they make no rigid grasps, as is the case of manipulating fingers. Consequently, these slips make the system unsuccessful to execute a job properly and can even cause a failure of control. Slip can be avoided by defining multiple constraints of grasping forces and usable workspace, but these constraints limit the utilization of a robotic system. The researches on finger grasps have been assuming no slip but, in contrast, this paper takes it as the main topic. The slip phenomenon is analyzed and generalized for a planar multiple robot system, manipulating a geometrically regular-shaped object. Different slip configurations are introduced and methods for their detection are proposed. This detection considers no sensors for the object's posture rather utilizes only the finger-tip position informations. Consequently, it is possible to realize exact manipulation of an object and stability of control with minimal sensors.

    Original languageEnglish
    Pages (from-to)1918-1923
    Number of pages6
    JournalProceedings of the IEEE Conference on Decision and Control
    Publication statusPublished - 1997 Dec 1
    EventProceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA
    Duration: 1997 Dec 101997 Dec 12

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Modelling and Simulation
    • Control and Optimization


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