Abstract
This paper details the further improvements obtained by redesigning a previously offered Manipulation Controller Framework to provide support to an innovative, friction-based object slippage detection strategy employed by the robotic object manipulator. This upgraded Manipulation Controller Framework includes improved slippage detection functionality and a streamlined architecture designed to improve controller robustness, reliability and speed. Improvements include enhancements to object slippage detection strategy, the removal of the decision making module and integration of its functionality into the Motion Planner, and the stream-lining of the Motion Planner to improve its effectiveness. It is anticipated that this work will be useful to researchers developing integrated robot controller architectures and slippage control.
| Original language | English |
|---|---|
| Title of host publication | ICINCO 2014 |
| Subtitle of host publication | Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek |
| Place of Publication | Setúbal, Portugal |
| Publisher | SciTePress |
| Pages | 368-373 |
| Number of pages | 6 |
| Volume | 2 |
| ISBN (Electronic) | 9789897580406 |
| DOIs | |
| Publication status | Published - 2014 |
| Externally published | Yes |
| Event | 11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 - Vienna, Austria Duration: 1 Sept 2014 → 3 Sept 2014 |
Other
| Other | 11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 |
|---|---|
| Country/Territory | Austria |
| City | Vienna |
| Period | 1/09/14 → 3/09/14 |
Keywords
- Controller framework
- Object manipulation
- Slippage control