Performance analysis of a soft tip robotic finger controlled by a parallel force/position regulator under kinematic uncertainties
2007 (English)In: IET Control Theory & Applications, ISSN 1751-8644, Vol. 1, no 1, 273-280 p.Article in journal (Refereed) Published
The performance of a modiﬁed parallel control scheme is examined under surfacekinematic uncertainties using nonlinear stability analysis. The controlled system is a roboticﬁnger with a soft hemispherical ﬁngertip of signiﬁcant radius in contact with an unknownsurface. Analysis of the control system performance shows that force converges to the desiredvalue, whereas position errors stay close to zero and in some cases can even vanish despite uncertainties. Simulation results support the theoretical ﬁndings and illustrate the performance of theproposed controller.
Place, publisher, year, edition, pages
2007. Vol. 1, no 1, 273-280 p.
FORCE CONTROL, POSITION/FORCE CONTROL, HYBRID-POSITION, MANIPULATORS, CONSTRAINT, STABILITY, DYNAMICS, CONTACTS
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50203DOI: 10.1049/iet-cta:20050526ISI: 000245667400034OAI: oai:DiVA.org:kth-50203DiVA: diva2:461274