Robotic grasping and manipulation controller framework: architecture redevelopment

Pavel Dzitac*, Abdul Md Mazid, Guy Littlefair, Ashwin Polishetty

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

2 Citations (Scopus)

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 languageEnglish
Title of host publicationICINCO 2014
Subtitle of host publicationProceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
EditorsJoaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek
Place of PublicationSetúbal, Portugal
PublisherSciTePress
Pages368-373
Number of pages6
Volume2
ISBN (Electronic)9789897580406
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 - Vienna, Austria
Duration: 1 Sep 20143 Sep 2014

Other

Other11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014
CountryAustria
CityVienna
Period1/09/143/09/14

Keywords

  • Controller framework
  • Object manipulation
  • Slippage control

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