Control of modular robotic fingers toward dexterous manipulation with sliding contacts

Persistent Link:
http://hdl.handle.net/10150/276988
Title:
Control of modular robotic fingers toward dexterous manipulation with sliding contacts
Author:
Grier, Michael Anthony, 1956-
Issue Date:
1989
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
Control and other issues related to the use of modular robotic fingers to perform dexterous manipulation are considered. The specific manipulation strategy to be implemented, which focuses on parts acquisition and takes advantage of sliding contacts which exist between the fingers and the object being manipulated, is described. The results of early implementation efforts are discussed in which a standard individual-actuator PID control approach was used. Problems related to friction and other effects are identified which were encountered in these early efforts. A computed torque control scheme which provides adaptive friction compensation is proposed for future use with the fingers. Results are discussed of simulations performed to help determine if use with the fingers of this proposed approach will improve system tracking performance in the presence of a variety of disturbances like those which will affect the fingers during actual operation. Implications of results for future implementation efforts are discussed.
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Robotics.; Manipulators (Mechanism)
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College; Electrical and Computer Engineering
Degree Grantor:
University of Arizona
Advisor:
Cellier, F. E.; Trinkle, J. C.

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titleControl of modular robotic fingers toward dexterous manipulation with sliding contactsen_US
dc.creatorGrier, Michael Anthony, 1956-en_US
dc.contributor.authorGrier, Michael Anthony, 1956-en_US
dc.date.issued1989en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractControl and other issues related to the use of modular robotic fingers to perform dexterous manipulation are considered. The specific manipulation strategy to be implemented, which focuses on parts acquisition and takes advantage of sliding contacts which exist between the fingers and the object being manipulated, is described. The results of early implementation efforts are discussed in which a standard individual-actuator PID control approach was used. Problems related to friction and other effects are identified which were encountered in these early efforts. A computed torque control scheme which provides adaptive friction compensation is proposed for future use with the fingers. Results are discussed of simulations performed to help determine if use with the fingers of this proposed approach will improve system tracking performance in the presence of a variety of disturbances like those which will affect the fingers during actual operation. Implications of results for future implementation efforts are discussed.en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectRobotics.en_US
dc.subjectManipulators (Mechanism)en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorCellier, F. E.en_US
dc.contributor.advisorTrinkle, J. C.en_US
dc.identifier.proquest1336687en_US
dc.identifier.oclc22871275en_US
dc.identifier.bibrecord.b17516535en_US
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