TY - JOUR
T1 - Acceleration Control for Dynamic Manipulation of a Robot Turning over Objects
AU - Tsuji, Toshiaki
AU - Kutsuzawa, Kyo
AU - Sakaino, Sho
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/10
Y1 - 2017/10
N2 - This study deals with dynamic object manipulation by a robot using a tool. In order to keep the contact between the held spatula and the manipulated object, a variety of movements satisfying conditions in acceleration dimension should be planned. However, it is quite difficult to assure the acceleration to stay in a certain range in case disturbances exist. Therefore, this study proposes a control architecture for acceleration control and discusses how to develop a controller suitable for dynamic object manipulation. Comparison through simulation and experimental results reveals the features of the proposed control system.
AB - This study deals with dynamic object manipulation by a robot using a tool. In order to keep the contact between the held spatula and the manipulated object, a variety of movements satisfying conditions in acceleration dimension should be planned. However, it is quite difficult to assure the acceleration to stay in a certain range in case disturbances exist. Therefore, this study proposes a control architecture for acceleration control and discusses how to develop a controller suitable for dynamic object manipulation. Comparison through simulation and experimental results reveals the features of the proposed control system.
KW - Contact modelling
KW - dexterous manipulation
KW - manipulation planning
KW - motion control
KW - motion control of manipulators
UR - http://www.scopus.com/inward/record.url?scp=85063304504&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063304504&partnerID=8YFLogxK
U2 - 10.1109/LRA.2017.2720848
DO - 10.1109/LRA.2017.2720848
M3 - Article
AN - SCOPUS:85063304504
SN - 2377-3766
VL - 2
SP - 2328
EP - 2335
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 7961204
ER -