Cartesian Impedance Control for Dexterous Manipulation

L. Biagiotti; H. Liu; G. Hirzinger; C. Melchiorri

Cartesian Impedance Control for Dexterous Manipulation

L. Biagiotti^*
, H. Liu
, G. Hirzinger
, C. Melchiorri

^*Corresponding author for this work

University of Bologna
German Aerospace Center

Research output: Contribution to conference › Paper › peer-review

41 Scopus citations

Abstract

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 has been experimentally validated by testing it on a finger of the DLR Hand.

Original language	English
Pages	3270-3275
Number of pages	6
State	Published - 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 27 Oct 2003 → 31 Oct 2003

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	27/10/03 → 31/10/03

Cite this

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title = "Cartesian Impedance Control for Dexterous Manipulation",

abstract = "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 has been experimentally validated by testing it on a finger of the DLR Hand.",

author = "L. Biagiotti and H. Liu and G. Hirzinger and C. Melchiorri",

year = "2003",

language = "英语",

pages = "3270--3275",

note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

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TY - CONF

T1 - Cartesian Impedance Control for Dexterous Manipulation

AU - Biagiotti, L.

AU - Liu, H.

AU - Hirzinger, G.

AU - Melchiorri, C.

PY - 2003

Y1 - 2003

N2 - 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 has been experimentally validated by testing it on a finger of the DLR Hand.

AB - 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 has been experimentally validated by testing it on a finger of the DLR Hand.

UR - https://www.scopus.com/pages/publications/0347409310

M3 - 论文

AN - SCOPUS:0347409310

SP - 3270

EP - 3275

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

Cartesian Impedance Control for Dexterous Manipulation

Abstract

Conference

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