An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties

—We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g. doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms’ kinematics, including the type of joint — prismatic or revolute. The method consists of a velocity controller which relies on force/torque measurements and estimation of the motion direction, the distance and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a taskrelated desired velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, mea...

• Type: Journal
• Year: 2016
• Where: TROB
• Authors: Yiannis Karayiannidis, Christian Smith, Francisco Eli Vina Barrientos, Petter Ögren, Danica Kragic
• Keywords: TROB 2016