Slip compensated manipulation with cooperating multiple robots

Khalid Munawar, Masaru Uchiyama

    研究成果: Conference article査読

    3 被引用数 (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.

    ジャーナルProceedings of the IEEE Conference on Decision and Control
    出版ステータスPublished - 1997 12 1
    イベントProceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA
    継続期間: 1997 12 101997 12 12

    ASJC Scopus subject areas

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

    フィンガープリント 「Slip compensated manipulation with cooperating multiple robots」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。