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Force/position control self-tuned to unknown surface slopes using motion variables
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
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
Abstract [en]

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.
Keyword [en]
FORCE POSITION CONTROL, KINEMATIC UNCERTAINTIES, HYBRID-POSITION, SOFT TIP; MANIPULATORS, FINGER
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50802DOI: 10.1017/S026357470800430XISI: 000261247700001OAI: oai:DiVA.org:kth-50802DiVA: diva2:462772
Note
QC 20111209Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2017-12-08Bibliographically approved

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Karayiannidis, Yiannis

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