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Force position control for a robot finger with a soft tip and kinematic uncertainties
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.ORCID iD: 0000-0001-5129-342X
2007 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 55, no 4, 328-336 p.Article in journal (Refereed) Published
Abstract [en]

We consider the problem of force and position regulation for a robot finger with a soft tip in contact with a surface with unknown geometrical characteristics. An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to zero is shown for the spatial case. Simulation results demonstrate the controller performance.

Place, publisher, year, edition, pages
2007. Vol. 55, no 4, 328-336 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-48887DOI: 10.1016/j.robot.2006.11.003ISI: 000245798200006OAI: oai:DiVA.org:kth-48887DiVA: diva2:458761
Note
QC 20111128Available from: 2011-11-23 Created: 2011-11-23 Last updated: 2017-12-08Bibliographically approved

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Publisher's full texthttp://www.sciencedirect.com/science/article/pii/S0921889006001916

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Karayiannidis, Yiannis

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