Grasp Control for Enhancing Dexterity of Parallel Grippers
Marco Costanzo,Giuseppe De Maria,Gaetano Lettera,Ciro Natale,Marco Costanzo,Giuseppe De Maria,Gaetano Lettera,Ciro Natale
A robust grasp controller for both slipping avoidance and controlled sliding is proposed based on force/tactile feedback only. The model-based algorithm exploits a modified LuGre friction model to consider rotational frictional sliding motions. The modification relies on the Limit Surface concept where a novel computationally efficient method is introduced to compute in real-time the minimum grasp...
