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Impedance Identification Using Tactile Sensing and Its Adaptation for an Underactuated Gripper Manipulation

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  • Robot and Applications
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Abstract

Underactuated gripper has a broad application in the field of space robot and industrial robot because of its better shape-adaptation. However, because of the underactuated characteristics, it is a great challenge to accurately obtain the displacement of the contact point between the finger and grasped object, which makes it difficult to control the gripper grasp stably, especially the environmental parameters are unknown. This paper develops the identification of the unknown environmental parameters using a tactile array sensor based on the recursive leastsquares (RLS) method. The unknown environments are described as linear systems with unknown dynamics, and the environmental parameters are identified using the measured contact force and the derived displacement of the contact point which is obtained through the underactuated gripper dynamics. Meanwhile, an impedance adaptive control is presented to match the variability of the environment parameters, and the desired impedance model is imposed to the underactuated gripper to achieve stable grasp. A cost function that measures the contact force, velocity and displacement error is defined, and the critical impedance parameters are found to minimize it. At last, a co-simulation of ADAMS and MATLAB for an underactuated gripper grasp is implemented to show the feasibility of environmental parameters identification and its adaptive method.

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Author information

Authors and Affiliations

  1. School of Instrument Science and Opto-electronics, Beihang University, Beijing, China

    Zhong-Yi Chu, Shao-Bo Yan & Jian Hu

  2. Shanghai Institute of Spaceflight Control Technology, Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai, China

    Shan Lu

Authors
  1. Zhong-Yi Chu
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  2. Shao-Bo Yan
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  3. Jian Hu
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  4. Shan Lu
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Corresponding author

Correspondence to Shao-Bo Yan.

Additional information

Recommended by Associate Editor Shinsuk Park under the direction of Editor Hyun-Seok Yang. This journal was supported by the National Science Foundation of China (NSFC) (61773028, 51375034), Natural Science Foundation of Beijing (4172008) and the Fundamental Research Funds for the Central Universities (YWF-17-BJ-J-78).

Zhong-Yi Chu received the Ph.D. degree from the robotics research institute, Harbin Institute of Technology, Harbin, China, in 2004. He was a postdoctoral fellow with the state key lab of intelligent technology and systems in 2006, Tsinghua University, Beijing, China. Currently, he is a professor with the institute of small satellite and deep space exploration technology, the school of instrument science and opto-electronics, Beihang University, Beijing, China. His research interests include robotics and intelligent control.

Shao-Bo Yan is a graduated student with the institute of small satellite and deep space exploration technology, the school of instrument science and opto-electronics, Beihang University.

Jian Hu is a graduated student with the institute of small satellite and deep space exploration technology, the school of instrument science and opto-electronics, Beihang University.

Shan Lu is a research fellow with Shanghai Institute of Spaceflight Control Technology.

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Chu, ZY., Yan, SB., Hu, J. et al. Impedance Identification Using Tactile Sensing and Its Adaptation for an Underactuated Gripper Manipulation. Int. J. Control Autom. Syst. 16, 875–886 (2018). https://doi.org/10.1007/s12555-016-0017-7

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  • DOI: https://doi.org/10.1007/s12555-016-0017-7

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