Change search
ReferencesLink to record
Permanent link

Direct link
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]
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-50802DOI: 10.1017/S026357470800430XISI: 000261247700001OAI: diva2:462772
QC 20111209Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-09Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Karayiannidis, Yiannis
In the same journal
Robotica (Cambridge. Print)
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 18 hits
ReferencesLink to record
Permanent link

Direct link