Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback

Sensors

Carlos A. Jara¹  Jorge Pomares²  Francisco A. Candelas² 

[1] Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, Alicante 03690, Spain;

关键词: dexterous manipulation;    dynamic control;    tactile sensors;    visual servoing;   

DOI  :  10.3390/s140101787

来源: mdpi

【 摘 要 】

Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.