@inbook{eb0b3b3b508a4e2e8070f66dec6f672a,
title = "Dynamic control of internal force for visco-elastic contact grasps",
abstract = "This paper deals with robotic grasps exhibiting viscoelastic contact interactions with the manipulated object. Such interactions are frequent in advanced robotic applications since in many cases, i.e. when a great precision is needed, elasticity cannot be neglected. This is particularly true in medical applications, as in tele-surgery or in laparoscopy, where precision is obviously basic. The control of internal forces for visco-elastic grasps is explored in this work. This is an important issue in tele-operated robotics (tele-surgery and so forth). The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law dynamically decoupling the internal force control action from the object dynamics is proposed.",
keywords = "Engineering, Force control, Manipulators, Viscoelasticity, Position control, Contact grasps, Robotics",
author = "D. Prattichizzo and P. Mercorelli and Federico Barbagli",
note = "Conference code: 59911 Export Date: 22 May 2012 Source: Scopus CODEN: 85QKA Language of Original Document: English Correspondence Address: Prattichizzo, D.; Dip. Ing. Informazione, Universit{\`a} di Siena, Siena 53100, Italy; email: prattichizzo@ing.unisi.it References: Akella, P.N., Cutkosky, M.R., Contact transition control with semiactive soft fingertips (1995) IEEE Trans. Robotics Automat., 11 (6), pp. 859-867; Basile, G., Marro, G., (1992) Controlled and conditioned invariants in linear system theory, , New Jersey, Prentice Hall; Bicchi, A., Force distribution in multiple whole-limb manipulation (1993) Proc. IEEE Int. Conf. Robotics Automat., pp. 196-201; Bicchi, A., Melchiorri, C., Balluchi, D., On the mobility and manipulability of general multiple limb robots (1995) IEEE Trans. on Robotics and Automat., 11 (2); Bicchi, A., Canepa, G., De Rossi, D., Iacconi, P., Scilingo, E.P., A sensorized minimmally invasive surgery tool for detecting tissutal elastic properties (1996) Proc. IEEE Int. Conf. Robotics Automat., 1, pp. 884-888; Ku, S., Salcudean, S.E., Design and control of a teleoperated microgripper for microsurgery (1996) Proc. IEEE Int. Conf. Robotics Automat., 1; Mason, M.T., Salisbury, J.K., (1985) Robot hands and the mechanics of manipulation, , The MIT Press, Cambridge MA; Meirovitch, L., (1967) Analytical methods in vibrations, , Macmillan Pub. Co., Inc. New York; Prattichizzo, D., Mercorelli, P., Barbagli, F., Dynamic Control of Internal Force for Visco-Elastic Contact Grasps, , Internal Report N. 123995, Faculty of Engineering, University of Siena; Prattichizzo, D., Bicchi, A., Dynamic analysis of mobility and graspability of general manipulation systems (1998) IEEE Transactions on Robotics and Automation, 14 (2). , April; Prattichizzo, D., Bicchi, A., Consistent task specification for manipulation systems with general kinematics (1997) ASME Transactions Journal on Dynamics, System, Measurements and Control, , Dec; Taylor, R.H., Taming the Bull: Safety in a precise surgical robot (1991) Proc. IEEE Int. Conf. Robotics Automat., 1; Trinkle, J.C., Dexterous manipulation planning and execution of an enveloped slippery workpiece (1993) Proc. IEEE Int. Conf. Robotics Automat.; Wonham, W.M., (1979) Linear multivariable control: A geometric approach, , New York, Springer-Verlag Sponsors: Scuola Superiore S.Anna; IEEE Industrial Electronics Society; Robotics Society of Japan; IEEE Robotics and Automation Society; New Technology Foundation (J); 8th Institute of Electrical and Electronics Engineers International Workshop on Robot and Human Communication - 1999, RO-MAN '99 ; Conference date: 27-09-1999 Through 29-09-1999",
year = "1999",
doi = "10.1109/ROMAN.1999.900360",
language = "English",
isbn = "0-7803-5841-4",
pages = "321--326",
booktitle = "Proceedings of the 1999 IEEE International Workshop on Robot and Human Interaction",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
address = "United States",
url = "https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=900300",
}
TY - CHAP
T1 - Dynamic control of internal force for visco-elastic contact grasps
AU - Prattichizzo, D.
AU - Mercorelli, P.
AU - Barbagli, Federico
N1 - Conference code: 8
PY - 1999
Y1 - 1999
N2 - This paper deals with robotic grasps exhibiting viscoelastic contact interactions with the manipulated object. Such interactions are frequent in advanced robotic applications since in many cases, i.e. when a great precision is needed, elasticity cannot be neglected. This is particularly true in medical applications, as in tele-surgery or in laparoscopy, where precision is obviously basic. The control of internal forces for visco-elastic grasps is explored in this work. This is an important issue in tele-operated robotics (tele-surgery and so forth). The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law dynamically decoupling the internal force control action from the object dynamics is proposed.
AB - This paper deals with robotic grasps exhibiting viscoelastic contact interactions with the manipulated object. Such interactions are frequent in advanced robotic applications since in many cases, i.e. when a great precision is needed, elasticity cannot be neglected. This is particularly true in medical applications, as in tele-surgery or in laparoscopy, where precision is obviously basic. The control of internal forces for visco-elastic grasps is explored in this work. This is an important issue in tele-operated robotics (tele-surgery and so forth). The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law dynamically decoupling the internal force control action from the object dynamics is proposed.
KW - Engineering
KW - Force control
KW - Manipulators
KW - Viscoelasticity
KW - Position control
KW - Contact grasps
KW - Robotics
U2 - 10.1109/ROMAN.1999.900360
DO - 10.1109/ROMAN.1999.900360
M3 - Article in conference proceedings
SN - 0-7803-5841-4
SP - 321
EP - 326
BT - Proceedings of the 1999 IEEE International Workshop on Robot and Human Interaction
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Institute of Electrical and Electronics Engineers International Workshop on Robot and Human Communication - 1999
Y2 - 27 September 1999 through 29 September 1999
ER -
