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Performance analysis of a soft tip robotic finger controlled by a parallel force/position regulator under 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: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 1, no 1, 273-280 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
FORCE CONTROL, POSITION/FORCE CONTROL, HYBRID-POSITION, MANIPULATORS, CONSTRAINT, STABILITY, DYNAMICS, CONTACTS
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50203DOI: 10.1049/iet-cta:20050526ISI: 000245667400034OAI: oai:DiVA.org:kth-50203DiVA: diva2:461274
Available from: 2011-12-02 Created: 2011-12-02 Last updated: 2017-12-08Bibliographically approved

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Karayiannidis, Yiannis

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