Force/position control self-tuned to unknown surface slopes using motion variables
2008 (English)In: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668, Vol. 26, no 6, 703-710 p.Article in journal (Refereed) Published
This work considers the problem of force/position regulationfor a robotic ﬁnger in compliant contact with an unknowncurved surface resulting in uncertain force and positioncontrol subspaces. The proposed controller is an adaptivecontrol scheme of a simple structure that achieves the desiredtarget by the on-line tuning of the position and force controlactions to their corresponding actual subspaces at the desiredpoint using motion state feedback. The local asymptoticstability of the system equilibrium point is proved and anestimate of the region of attraction is given. The controllerperformance is illustrated by a simulation example.
Place, publisher, year, edition, pages
Cambridge University Press, 2008. Vol. 26, no 6, 703-710 p.
FORCE POSITION CONTROL, KINEMATIC UNCERTAINTIES, HYBRID-POSITION, SOFT TIP; MANIPULATORS, FINGER
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50802DOI: 10.1017/S026357470800430XISI: 000261247700001OAI: oai:DiVA.org:kth-50802DiVA: diva2:462772
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved