• English
    • العربية
  • العربية
  • Login
  • QU
  • QU Library
  •  Home
  • Communities & Collections
  • Help
    • Item Submission
    • Publisher policies
    • User guides
    • FAQs
  • About QSpace
    • Vision & Mission
    • QSpace policies
View Item 
  •   Qatar University Digital Hub
  • Qatar University Institutional Repository
  • Academic
  • Faculty Contributions
  • College of Engineering
  • Mechanical & Industrial Engineering
  • View Item
  • Qatar University Digital Hub
  • Qatar University Institutional Repository
  • Academic
  • Faculty Contributions
  • College of Engineering
  • Mechanical & Industrial Engineering
  • View Item
  •      
  •  
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Pareto-front analysis of a monotonie PI control law for slip suppression in a robotic manipulator

    Thumbnail
    Date
    2018
    Author
    Prach A.
    Cabibihan J.-J.
    Thakor N.V.
    Bernstein D.S.
    Metadata
    Show full item record
    Abstract
    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.
    DOI/handle
    http://dx.doi.org/10.1109/ROBIO.2017.8324832
    http://hdl.handle.net/10576/12284
    Collections
    • Mechanical & Industrial Engineering [‎1064‎ items ]

    entitlement


    Qatar University Digital Hub is a digital collection operated and maintained by the Qatar University Library and supported by the ITS department

    Contact Us | Send Feedback
    Contact Us | Send Feedback | QU

     

     

    Home

    Submit your QU affiliated work

    Browse

    All of Digital Hub
      Communities & Collections Publication Date Author Title Subject Type Language Publisher
    This Collection
      Publication Date Author Title Subject Type Language Publisher

    My Account

    Login

    Statistics

    View Usage Statistics

    About QSpace

    Vision & Mission QSpace policies

    Help

    Item Submission Publisher policiesUser guides FAQs

    Qatar University Digital Hub is a digital collection operated and maintained by the Qatar University Library and supported by the ITS department

    Contact Us | Send Feedback
    Contact Us | Send Feedback | QU

     

     

    Video