Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Blind force/position control on unknown planar surfaces
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.ORCID iD: 0000-0001-5129-342X
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
2009 (English)In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 3, no 5, p. 595-603Article in journal (Refereed) Published
Abstract [en]

 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, p. 595-603
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50915DOI: 10.1049/iet-cta.2008.0239ISI: 000266275300009OAI: oai:DiVA.org:kth-50915DiVA, id: diva2:463023
Note
QC 20111209Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2017-12-08Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Karayiannidis, Yiannis

Search in DiVA

By author/editor
Karayiannidis, Yiannis
In the same journal
IET Control Theory & Applications
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 28 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf