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Title: Robust contact force controller for slip prevention in a robotic gripper
Authors: O'Toole, Michael D.
Bouazza-Marouf, Kaddour
Kerr, David
Vloeberghs, Michael
Keywords: Sliding mode control
Fuzzy logic
Soft-grasping
Issue Date: 2010
Publisher: © IMechE
Citation: O'TOOLE, M. ... et al., 2010. Robust contact force controller for slip prevention in a robotic gripper. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 224 (3), pp. 275 - 288.
Abstract: Grasping a soft or fragile object requires the use of minimum contact force to prevent damage or deformation. Without precise knowledge of object parameters, real-time feedback control must be used with a suitable slip sensor to regulate the contact force and prevent slip. Furthermore, the controller must be designed to have good performance characteristics to rapidly modulate the fingertip contact force in response to a slip event. In this paper, a fuzzy sliding mode controller combined with a disturbance observer is proposed for contact force control and slip prevention. The controller is based on a system model that is suitable for a wide class of robotic gripper configurations. The robustness of the controller is evaluated through both simulation and experiment. The control scheme was found to be effective and robust to parameter uncertainty. When tested on a real system, however, chattering phenomena, well known to sliding mode research, was induced by the unmodelled suboptimal components of the system (filtering, backlash, and time delays), and the controller performance was reduced.
Description: This article was published in the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE].
Version: Published
DOI: 10.1243/09596518JSCE854
URI: https://dspace.lboro.ac.uk/2134/12516
Publisher Link: http://dx.doi.org/10.1243/09596518JSCE854
ISSN: 0959-6518
Appears in Collections:Published Articles (Mechanical, Electrical and Manufacturing Engineering)

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