Slip Detection Based Grasp Control of a Robotic Gripper: A Classical Approach

U P Abhijith,Kapil Kumar Sharma,Asha P Nair,Gopal Jee,U P Rajeev

2024 Tenth Indian Control Conference (ICC)（2024）

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关键词

Slip Detection,Optimal Control,Control Problem,Uncertain Environment,Grip Force,Deformable Objects,Actuator,External Force,Feedback Control,Friction Coefficient,Parameter Uncertainty,Control Solution,Control Loop,External Disturbances,Friction Force,State-space Model,Uncertainty Range,Plant Parameters,Objective Weight,Actuation Mechanism,Static Friction Coefficient,Slip Velocity,Perturbation Model,Servo Motor,Initial Capture,Free Body Diagram,Operation Mode,Relative Movement,Reaction Force,Nominal Value

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