Control of modular robotic fingers toward dexterous manipulation with sliding contacts

摘要

Control and other issues related to the use of modular robotic fingers to perform dexterous manipulation are considered. The specific manipulation strategy to be implemented, which focuses on parts acquisition and takes advantage of sliding contacts which exist between the fingers and the object being manipulated, is described. The results of early implementation efforts are discussed in which a standard individual-actuator PID control approach was used. Problems related to friction and other effects are identified which were encountered in these early efforts. A computed torque control scheme which provides adaptive friction compensation is proposed for future use with the fingers. Results are discussed of simulations performed to help determine if use with the fingers of this proposed approach will improve system tracking performance in the presence of a variety of disturbances like those which will affect the fingers during actual operation. Implications of results for future implementation efforts are discussed.