Force/Position Regulation for a Robot in Compliant Contact Using Adaptive Surface Slope Identification
2008 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 53, no 9, 2116-2122 p.Article in journal (Refereed) Published
This work proposes a control law for the force position regulation problem under surface kinematic uncertainties. A compliant contact with friction is considered. The control law achieves exact regulation of force and position along the surface tangent by identifying the uncertain surface slope without any force, tactile and/or vision sensory requirements. The asymptotic stability of the closed loop system equilibrium point is proved in a local sense and is demonstrated by a simulation example.
Place, publisher, year, edition, pages
2008. Vol. 53, no 9, 2116-2122 p.
Compliant contact, force/position regulation, uncertain surface slope
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50804DOI: 10.1109/TAC.2008.930183ISI: 000260220000012OAI: oai:DiVA.org:kth-50804DiVA: diva2:462780
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved