Concept for Robust Compliance Control of Robot Fingers

摘要

In this study, a preliminary investigation of the compliance control for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers is carried out. The kinematics of each finger have been developed by using the Denavit Hartenberg (DH) method for joint control while the Jacobian for each finger is derived for the implementation of Cartesian control. Moreover, in order to realize the compliance control structure, Integral Sliding mode Controller (ISMC) is adopted which also helps to alleviate nonlinearities and uncertainties in particular friction, stiction and unknown parameters. The ISMC allows for model reference for which a mass-spring damper can be introduced. Moreover, the simulation results show that the ISMC has successfully controlled and introduced the tracking and compliance respectively so that the constrained underactuated BERUL fingers are fully controllable for joint and Cartesian space.