Robot contact tasks in the presence of control target distortions
2010 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 58, no 5, 596-606 p.Article in journal (Refereed) Published
This work refers to the problem of controlling robot motion and force in frictional contacts under environmental errors and particularly orientation errors that distort the desired control targets and control subspaces. The proposed method uses online estimates of the surface normal (tangent) direction to dynamically modify the control target and control space decomposition. It is proved that these estimates converge to the actual value even though the elasticity and friction parameters are unknown. The proposed control solution is demonstrated through simulation examples in three-dimensional robot motion tasks contacting both planar and curved surfaces.
Place, publisher, year, edition, pages
2010. Vol. 58, no 5, 596-606 p.
Adaptive control, Force/position control, Robot contact task; Soft fingertip, Uncertain kinematics
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50899DOI: 10.1016/j.robot.2009.12.004ISI: 000277926200016OAI: oai:DiVA.org:kth-50899DiVA: diva2:463015
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved