Blind force/position control on unknown planar surfaces
2009 (English)In: IET Control Theory & Applications, ISSN 1751-8644, Vol. 3, no 5, 595-603 p.Article in journal (Refereed) Published
In robot contact tasks on planar surfaces with frictional contacts, kinematic uncertainties of thecontacted surface affect the control system performance and distort control targets. An adaptive controllerthat uses force and joint position/velocity measurements to simultaneously learn the surface orientation andachieve the desired goal is proposed. Simulation examples are used to illustrate the theoretical results andthe performance of the proposed controller in practical cases.
Place, publisher, year, edition, pages
2009. Vol. 3, no 5, 595-603 p.
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50915DOI: 10.1049/iet-cta.2008.0239ISI: 000266275300009OAI: oai:DiVA.org:kth-50915DiVA: diva2:463023
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved