Opening a door with a redundant impedance controlled robot

Tomasz Winiarski , Konrad Banachowicz

Abstract

Opening a door with a robotic manipulator equipped with a gripper, is a vital problem in service robotics research. This paper presents an approach to opening a cabinet door with an impedance controlled 7-DOF redundant manipulator. A control system is developed that considers redundancy in order to maximise the manipulation capabilities of the manipulator whilst avoiding reaching the joints limits. The control strategy is based on automatically estimating the kinematic parameters of the door. All conducted experiments were based on the assumption that the manipulator pulls a handle and opens a door using a single finger.
Author Tomasz Winiarski (FEIT / AK)
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
, Konrad Banachowicz (FEIT / AK)
Konrad Banachowicz,,
- The Institute of Control and Computation Engineering
Pages221-226
Publication size in sheets0.5
Book Kozłowski Krzysztof: Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, IEEE, ISBN 978-1-4673-5510-0, 293 p.
DOIDOI:10.1109/RoMoCo.2013.6614612
URL https://ieeexplore.ieee.org/document/6614612/authors#authors
Languageen angielski
File
Winiarski Banachowicz ROmOCO2013.pdf 1.15 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 08-07-2020, BookChapterMatConfByIndicator
Ministerial score (2013-2016) = 15.0, 08-07-2020, BookChapterMatConfByIndicator
Publication indicators WoS Citations = 13; GS Citations = 18.0
Citation count*18 (2020-08-21)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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