242
Views
7
CrossRef citations to date
0
Altmetric
Original Articles

Underactuated fingers controlled by robust and adaptive trajectory following methods

, &
Pages 120-132 | Received 07 Oct 2011, Accepted 06 Apr 2012, Published online: 21 May 2012

References

  • Arai , H , Tanie , K and Shiroma , N . 1997 . Feedback Control of a 3-DOF Planar Underactuated Manipulator . IEEE International Conference on Robotics and Automation . 1997 . Vol. 1 , pp. 703 – 709 .
  • Basin , M , Rodriguez-Gonzalez , J , Fridman , L and Acosta , P . 2005 . Integral Sliding Mode Design for Robust Filtering and Control of Linear Stochastic Time-delay Systems . International Journal of Robust and Nonlinear Control , 15 : 407 – 421 . doi: 10.1002/rnc.995
  • Bejarano , F J , Fridman , L and Poznyak , A . 2007 . Output Integral Sliding Mode Control Based on Algebraic Hierarchical Observer . International Journal of Control , 80 : 443 – 453 . doi: 10.1080/00207170601080205
  • Birglen , L and Gosselin , C . 2004 . ‘Kinetostatic Analysis of Underactuated Fingers’ in IEEE International Conference on Robotics and Automation, Vol. 20, April 2004, pp. 211–221
  • Borst , C , Fischer , M , Haidacher , S , Liu , H and Hirzinger , G . 2003 . DlR Hand ii: Experiments and Experience with an Anthropomorphic Hand . IEEE International Conference on Robotics and Automation . September 2003 . Vol. 1 , pp. 702 – 707 .
  • Burton , J A and Zinober , A SI . 1986 . Continuous Approximation of Variable Structure Control . International Journal of Systems Science , 17 : 875 – 885 . doi: 10.1080/00207728608926853
  • Cardiel , L and Ben Ghalia , M . 2004 . A Three Element Sliding Mode Control System for Robot Manipulators . Region 5 Conference: Annual Technical and Leadership Workshop . April 2004 . pp. 21 – 30 .
  • Chang , J-L . 2009 . Dynamic Output Integral Sliding-mode Control with Disturbance Attenuation . IEEE Transactions on Automatic Control , 54 : 2653 – 2658 . doi: 10.1109/TAC.2009.2031569
  • Curk , B and Jezernik , K . 2001 . Sliding Mode Control with Perturbation Estimation: Application on dd Robot Mechanism . Robotica , 19 : 641 – 648 . doi: 10.1017/S0263574701003629
  • de Wit , C C , Astrom , K and Braun , K . 1987 . Adaptive Friction Compensation in DC-motor Drives . IEEE Journal of Robotics and Automation , 3 : 681 – 685 . doi: 10.1109/JRA.1987.1087142
  • de Wit , C C and Ge , S . 1997 . Adaptive Friction Compensation for Systems with Generalised Velocity/Position Friction Dependency . Proceedings of the 36th IEEE Conference on Decision and Control . December 1997 . Vol. 3 , pp. 2465 – 2470 .
  • de Wit , C C , Olsson , H , Astrom , K and Lischinsky , P . 1993 . Dynamic Friction Models and Control Design . American Control Conference . June 1993 . pp. 1920 – 1926 .
  • Defoort , M , Floquet , T , Kokosy , A and Perruquetti , W . 2006 . Integral Sliding Mode Control for Trajectory Tracking of a Unicycle Type Mobile Robot . Integrated Computer-Aided Engineering , 13 : 277 – 288 .
  • Doulgeri , Z and Arimoto , S . 1999 . A Force Control for a Robot Finger Under Kinematic Uncertainties . IEEE International Conference on Robotics and Automation . 1999 . Vol. 2 , pp. 1475 – 1480 .
  • Edwards , C and Spurgeon , S . 1994 . Robust Nonlinear Control of Heating Plant . IEE Proceedings on Control Theory and Applications , 141 : 227 – 234 . doi: 10.1049/ip-cta:19941096
  • Eker , I and Akinal , S . 2008 . Sliding Mode Control with Integral Augmented Sliding Surface: Design and Experimental Application to an Electromechanical System . Electrical Engineering (Archiv fur Elektrotechnik) , 90 : 189 – 197 . doi: 10.1007/s00202-007-0073-3
  • Ge , S , Lee , T and Ren , S . 2001 . Adaptive Friction Compensation of Servo Mechanisms . International Journal of Systems Science , 32 : 523 – 532 .
  • Goodhart , S , Burnham , K and James , D . 1992 . Self-tuning Control of Non-linear Plant – a Bilinear Approach . Transactions of the Institute of Measurement and Control , 14 : 227 – 232 . doi: 10.1177/014233129201400502
  • Herrmann , G , Ge , S and Guo , G . 2005 . Practical Implementation of a Neural Network Controller in a Hard Disk Drive . IEEE Transactions on Control Systems Technology , 13 : 146 – 154 . doi: 10.1109/TCST.2004.838567
  • Herrmann , G , Spurgeon , S and Edwards , C . 2006 . On Robust, Multi-input Sliding-mode Based Control with a Statedependent Boundary Layer . Journal of Optimization Theory and Applications , 129 : 89 – 107 . doi: 10.1007/s10957-006-9045-4
  • Jalani , J , Herrmann , G and Melhuish , C . 2010 . Robust Trajectory Following for Underactuated Robot Fingers . UKACC International Conference on Control 2010 . September 2010 . pp. 495 – 500 .
  • Kobayashi , K and Yoshikawa , T . 2002 . Controllability of Under-aCtuated Planar Manipulators with One Unactuated Joint . The International Journal of Robotics Research , 21 : 555 – 561 . doi: 10.1177/027836402321261913
  • Koshkouei , A J and Burnham , K J . 2006 . Integration of Active and Passive Compliance Control for Safe Human-robot Coexistence . IEEE International Conference on Robotics and Automation . 2006 . Coventry
  • Lee , C and Gonzalez , R . 2008 . Fuzzy Logic Versus a Pid Controller for Position Control of a Muscle-like Actuated Arm . Journal of Mechanical Science and Technology , 22 : 1475 – 1482 . doi: 10.1007/s12206-008-0424-7
  • Mahindrikar , A , Rao , S and Banavar , R . 2006 . Point-to-point Control of a 2r Planar Horizontal Underactuated Manipulator . Mechanism and Machine Theory , 41 : 838 – 844 . July doi: 10.1016/j.mechmachtheory.2005.10.013
  • Ryan , E P and Corless , M . 1984 . Ultimate Boundedness and Asymptotic Stability of a Class of Uncertain Dynamical Systems via Continuous and Discontinuous Feedback Control . IMA Journal of Mathematical Control and Information , 1 : 223 – 242 . doi: 10.1093/imamci/1.3.223
  • Shi , J , Liu , H and Bajcinca , N . 2008 . Robust Control of Robotic Manipulators Based on Integral Sliding Mode . International Journal of Control , 81 : 1537 – 1548 . doi: 10.1080/00207170701749881
  • Spurgeon , S K and Davies , R . 1993 . A Nonlinear Control Strategy for Robust Sliding Mode Performance in the Presence of Unmatched Uncertainty . International Journal of Control , 57 : 1107 – 1123 . doi: 10.1080/00207179308934433
  • Yagiz , N , Arslan , Y Z and Hacioglu , Y . 2007 . Sliding Mode Control of a Finger for a Prosthetic Hand . Journal of Vibration and Control , 13 : 733 – 749 . doi: 10.1177/1077546307072352
  • Yokoyama , M , Kim , G-N and Tsuchiya , M . 2010 . Integral Sliding Mode Control with Anti-windup Compensation and its Application to a Power Assist System . Journal of Vibration and Control , 16 : 503 – 512 . doi: 10.1177/1077546309106143
  • Zhang , W , Chen , Q , Sun , Z and Zhao , D . 2004 . Passive Adaptive Grasp Multi-fingered Humanoid Robot Hand with High Under-actuated Function . IEEE International Conference on Robotics and Automation . April 1–May 2004 . Vol. 3 , pp. 2216 – 2221 .

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.