Abstract
In this paper, we address the set-point deformation control of elastic objects by fully-constrained grippers. We propose an uncalibrated Lyapunov-based algorithm that iteratively estimates the deformation Jacobian matrix, with no prior knowledge of the deformation and camera models. With this new method we show how, by combining pose information of the grippers with several visual measurements, we can independently control elastic deformations of unknown objects. We report experiments with a 6-DOF robot manipulator to validate this control approach.
| Original language | English |
|---|---|
| Article number | 6907509 |
| Pages (from-to) | 4457-4462 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| DOIs | |
| Publication status | Published - 1 Jan 2014 |
| Externally published | Yes |
| Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong Duration: 31 May 2014 → 7 Jun 2014 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering