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Robotic grasping and manipulation controller framework: architecture redevelopment

Dzitac,P, Md Mazid,A, Littlefair,G and Polishetty,A 2014, Robotic grasping and manipulation controller framework: architecture redevelopment, in Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics; ICINCO 2014, IEEE, Piscataway, NJ, pp. 368-373.

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Title Robotic grasping and manipulation controller framework: architecture redevelopment
Author(s) Dzitac,P
Md Mazid,A
Littlefair,G
Polishetty,AORCID iD for Polishetty,A orcid.org/0000-0002-8572-6024
Conference name Informatics in Control, Automation and Robotics Conference (11th : 2014 : Vienna, Austria)
Conference location Vienna, Austria
Conference dates 2014/9/1 - 2014/9/3
Title of proceedings Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics; ICINCO 2014
Editor(s) Filipe,J
Gusikhin,O
Madani,K
Sasiadek,J
Publication date 2014
Start page 368
End page 373
Publisher IEEE
Place of publication Piscataway, NJ
Keyword(s) Controller framework
Object manipulation
Slippage control
Summary 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.
ISBN 9789897580406
Language eng
Field of Research 091006 Manufacturing Processes and Technologies (excl Textiles)
091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
091302 Automation and Control Engineering
Socio Economic Objective 861403 Industrial Machinery and Equipment
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2014, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30072683

Document type: Conference Paper
Collection: School of Engineering
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