Bionic Reflex Control Strategy for Robotic Finger with Kinematic Constraints
This addresses the challenge of precise and rapid robotic manipulation for applications like grasping, but it is incremental as it builds on existing impedance control methods.
The paper tackled the problem of controlling a robotic finger with kinematic constraints by developing a bionic reflex control strategy using force tracking impedance control, achieving a reflex response time on the order of milliseconds.
This paper presents a bionic reflex control strategy for a kinematically constrained robotic finger. Here, the bionic reflex is achieved through a force tracking impedance control strategy. The dynamic model of the finger is reduced subject to kinematic constraints. Thereafter, an impedance control strategy that allows exact tracking of forces is discussed. Simulation results for a single finger holding a rectangular object against a flat surface are presented. Bionic reflex response time is of the order of milliseconds.