TY - GEN
T1 - Pareto-front analysis of a monotonie PI control law for slip suppression in a robotic manipulator
AU - Prach, Anna
AU - Cabibihan, John John
AU - Thakor, Nitish V.
AU - Bernstein, Dennis S.
N1 - Funding Information:
This work is supported by a NPRP grant from the Qatar National Research Fund under the grant No. NPRP 7-673-2-251.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2018/3/23
Y1 - 2018/3/23
N2 - This paper presents a novel slip-suppression controller for a two-fingered robotic manipulator, where the goal is to minimize the slip distance without using excessive force. To do this, we consider monotonic PI (MPI) control, which is a nonlinear extension of linear proportional-integral (PI) control. The advantage of MPI control is the fact that the normal force of the gripper is prohibited from decreasing during the transition from predominantly proportional control to predominantly integral control as occurs in the case of linear PI control. The performance of the MPI control is compared to linear PI control for a range of controller parameters, and the tradeoff between the maximum normal force and the total slip distance is efficiently captured by Pareto-front analysis. The robustness of MPI is assessed by considering uncertainty in the body mass and friction parameters, as well as the effect of measurement noise and actuator dynamics.
AB - This paper presents a novel slip-suppression controller for a two-fingered robotic manipulator, where the goal is to minimize the slip distance without using excessive force. To do this, we consider monotonic PI (MPI) control, which is a nonlinear extension of linear proportional-integral (PI) control. The advantage of MPI control is the fact that the normal force of the gripper is prohibited from decreasing during the transition from predominantly proportional control to predominantly integral control as occurs in the case of linear PI control. The performance of the MPI control is compared to linear PI control for a range of controller parameters, and the tradeoff between the maximum normal force and the total slip distance is efficiently captured by Pareto-front analysis. The robustness of MPI is assessed by considering uncertainty in the body mass and friction parameters, as well as the effect of measurement noise and actuator dynamics.
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U2 - 10.1109/ROBIO.2017.8324832
DO - 10.1109/ROBIO.2017.8324832
M3 - Conference contribution
AN - SCOPUS:85049909483
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2728
EP - 2733
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -