The purpose of this paper is to present the latest slipping detection and avoidance algorithms developed by the authors for application in robotic manipulation tasks. Slipping can happen not only in quasi-static conditions such as in grasping tasks but also during dynamic manipulation, therefore the availability of slip control techniques effective in both conditions, such as those proposed here, are essential in real robotic applications. A new algorithm is also proposed to estimate on-line the actual friction coefficient at the contact with the manipulated object by means of a preliminary exploration phase, thus enabling safe manipulation of objects with unknown surface properties. A detailed dynamic simulator is presented and experimentally validated on a mechatronic test bench used for proving the effectiveness of the proposed approach.
Slipping detection and avoidance based on Kalman filter
CAVALLO, Alberto;DE MARIA, Giuseppe;NATALE, Ciro;PIROZZI, Salvatore
2014
Abstract
The purpose of this paper is to present the latest slipping detection and avoidance algorithms developed by the authors for application in robotic manipulation tasks. Slipping can happen not only in quasi-static conditions such as in grasping tasks but also during dynamic manipulation, therefore the availability of slip control techniques effective in both conditions, such as those proposed here, are essential in real robotic applications. A new algorithm is also proposed to estimate on-line the actual friction coefficient at the contact with the manipulated object by means of a preliminary exploration phase, thus enabling safe manipulation of objects with unknown surface properties. A detailed dynamic simulator is presented and experimentally validated on a mechatronic test bench used for proving the effectiveness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
