S.H. Jazi, M. Keshmiri, and F. Sheikholeslam (Iran)
Frictional grasping, Slippage control, Simulation,
Almost all of the researches on object grasping by
manipulators and cooperating robots consider no slippage
between end-effectors and object, however it can occur.
This paper presents dynamics analysis and control
synthesis of a manipulator moving an object on a
horizontal surface using contact force of end-effector
considering slipping condition. Equality and inequality
equations of frictional contact conditions are replaced by a
single second order differential equation with switching
coefficients in order to facilitate the dynamical modeling.
Using this modeling of friction, a set of reduced order
form is obtained for equations of motion of the system
and a new method is proposed to control end-effector
slippage on the object.