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An Adaptive Force Regulator for a Robot in Compliant Contact with an Unknown Surface
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
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, 2005, 2685-2690 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper refers to the problem of force regulation for a robot finger with soft tip in contact with a rigid surface with unknown geometrical characteristics. A simple adaptive controller is employed in order to cope with surface kinematic uncertainties and the asymptotic stability of the force error is shown for the spatial case. Simulation results demonstrate the controller performance.

Place, publisher, year, edition, pages
2005. 2685-2690 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
Keyword [en]
UNCERTAIN KINEMATICS, MANIPULATORS, POSITION, FINGER
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50921DOI: 10.1109/ROBOT.2005.1570519ISI: 000235460102049OAI: oai:DiVA.org:kth-50921DiVA: diva2:463040
Conference
IEEE International Conference on Robotics and Automation (ICRA). Barcelona, SPAIN. APR 18-22, 2005
Note
QC 20111208Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-08Bibliographically approved

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Publisher's full texthttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570519

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Karayiannidis, Yiannis

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  • apa
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