Details

Autor(en) / Beteiligte

• Tang, Qirong
• Yang, Hao
• Wang, Wenrui
• Yu, Min
• Zhong, Lou
• Ma, Baoping
• Yue, Wenshuo
• Zou, Jun
• Yang, Huayong
• Yin, Zhouping
• Ouyang, Xiaoping
• Yang, Geng
• Wang, Zhiyong
• Liu, Honghai
• Liu, Lianqing

Titel

Grasp Compliant Control Using Adaptive Admittance Control Methods for Flexible Objects

Ist Teil von

• Intelligent Robotics and Applications, p.515-525

Ort / Verlag

Singapore: Springer Nature Singapore

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• In this paper, an admittance controller based on a gray prediction model is designed for end-effector gripping force. The gray prediction model is used to predict environmental parameters in real-time and dynamically adjusts the reference position to reduce the steady-state force error. In this way, the dynamic response capability of impedance control can be improved, and its steady-state force error is also reduced. To this end, the designed method can grasp soft objects with unknown characteristics. The algorithm is validated by simulation experiments, which provide a theoretical basis for flexible fruit grasping.