Robotic Grasping and Manipulation Controller Framework - Architecture Redevelopment

Pavel Dzitac, Abdul Md Mazid, Guy Littlefair, Ashwin Polishetty

Abstract

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.

References

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Paper Citation


in Harvard Style

Dzitac P., 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 - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 368-373. DOI: 10.5220/0005043903680373


in Bibtex Style

@conference{icinco14,
author={Pavel Dzitac and Abdul Md Mazid and Guy Littlefair and Ashwin Polishetty},
title={Robotic Grasping and Manipulation Controller Framework - Architecture Redevelopment},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={368-373},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005043903680373},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Robotic Grasping and Manipulation Controller Framework - Architecture Redevelopment
SN - 978-989-758-040-6
AU - Dzitac P.
AU - Mazid A.
AU - Littlefair G.
AU - Polishetty A.
PY - 2014
SP - 368
EP - 373
DO - 10.5220/0005043903680373