Purpose

The authors want to design an adaptive grasping control strategy without setting the expected contact force in advance to maintain grasping stable, so that the proposed control system can deal with unknown object grasping manipulation tasks.

Design/methodology/approach

The adaptive grasping control strategy is proposed based on bang-bang-like control principle and slippage detection module. The bang-bang-like control method is designed to find and set the expected contact force for the whole control system, and the slippage detection function is achieved by dynamic time warping algorithm.

Findings

The expected contact force can adaptively adjust in grasping tasks to avoid bad effects on the control system by the differences of prior test results or designers. Slippage detection can be recognized in time with variation of expected contact force manipulation environment in the control system. Based on if the slippage caused by an unexpected disturbance happens, the control system can automatically adjust the expected contact force back to the level of the previous stable state after a given time, and has the ability to identify an unnecessary increasing in the expected contact force.

Originality/value

Only contact force is used as feedback variable in control system, and the proposed strategy can save hardware components and electronic circuit components for sensing, reducing the cost and design difficulty of conducting real control system and making it easy to realize in engineering application field. The expected contact force can adaptively adjust due to unknown disturbance and slippage for various grasping manipulation tasks.

中文翻译：

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基于滑动检测的自适应稳定抓取控制策略

目的

作者想设计一种自适应抓取控制策略，无需提前设置预期接触力以保持抓取稳定，从而使所提出的控制系统能够处理未知物体抓取操作任务。

设计/方法/方法

提出了基于bang-bang-like控制原理和滑动检测模块的自适应抓取控制策略。bang-bang-like控制方法旨在寻找和设置整个控制系统的预期接触力，并通过动态时间扭曲算法实现滑动检测功能。

发现

预期接触力可以在抓取任务中自适应调整，以避免先前测试结果或设计者的差异对控制系统产生不良影响。随着控制系统中预期接触力操纵环境的变化，可以及时识别滑动检测。根据是否发生意外干扰引起的滑移，控制系统可以在给定时间后自动将预期接触力调整回先前稳定状态的水平，并具有识别预期接触力不必要增加的能力.

原创性/价值

在控制系统中仅使用接触力作为反馈变量，所提出的策略可以节省用于传感的硬件元件和电子电路元件，降低了进行实际控制系统的成本和设计难度，易于在工程应用领域实现。对于各种抓取操作任务，由于未知的干扰和滑动，预期接触力可以自适应地调整。