Cartesian impedance control for dexterous manipulation

In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and unmodeled dynamics) on robot performances and occurrence of singularity conditions. The achieved control scheme bas been experimentally validated by testing it on a finger of the DLR Hand.

Authors

• Luigi Biagiotti
• Hong Liu 0002
• Gerhard Hirzinger
• Claudio Melchiorri

Keywords

• Impedance
• Fingers
• Force control
• Robot sensing systems
• Manipulator dynamics
• Control systems
• Kinematics
• Testing
• Velocity control
• Orbital robotics
• Impedance Control
• Dexterous Manipulation
• Cartesian Impedance Control
• Control Strategy
• Unmodeled Dynamics
• Kinematic Structure
• Positive Control
• Degrees Of Freedom
• Low-pass
• Diagonal Matrix
• Matter Of Fact
• Control Approach
• Robotic System
• Position Error
• Sensor Locations
• Tracking Error
• Force Measurements
• Position Measurements
• Implementation Of Control
• Torque Control
• Inverse Kinematics
• Robotic Hand
• Impedance Model
• Joint Torque
• Virtual Point
• Smooth Behavior