A Variable Impedance Control Strategy for Object Manipulation Considering Non–Rigid Grasp
Michalis Logothetis,George C. Karras,Konstantinos Alevizos,Kostas J. Kyriakopoulos,Michalis Logothetis,George C. Karras,Konstantinos Alevizos,Kostas J. Kyriakopoulos
This paper presents a novel control strategy for the compensation of the slippage effect during non-rigidly grasped object manipulation. A detailed dynamic model of the interconnected system composed of the robotic manipulator, the object and the internal forces and torques induced by the slippage effect is provided. Next, we design a model-based variable impedance control scheme, in order to achi...
