A framework for grasp simulation and control in domestic environments
2006 (English)In: IFAC Proceedings, 2006, 490-495 p.Conference paper (Refereed)
A service robot for a domestic environment should be able to grasp, move, and release objects. To successfully grasp objects that cannot be expected to be perfectly modelled and whose positions are not exactly known, control algorithms need to handle uncertainty. Such controllers often use information from force/torque, tactile and joint angle sensors. This paper presents a simulation environment and proposes a design approach for controlling robotic grasping under those conditions. Finally, results from simulation of a sample task are presented.
Place, publisher, year, edition, pages
2006. 490-495 p.
, IFAC Proceedings, ISSN 1474-6670
robotic manipulators, control, simulation, models, sensors, design, verification, uncertainty
IdentifiersURN: urn:nbn:se:kth:diva-24051DOI: 10.3182/20060912-3-US-00086ScopusID: 2-s2.0-79961159845OAI: oai:DiVA.org:kth-24051DiVA: diva2:343015
4th IFAC Symposium on Mechatronic Systems, MX 2006; Heidelberg; Germany; 12 September 2006 through 14 September 2006
QC 201008112010-08-112010-08-112014-11-03Bibliographically approved