An Adaptive Force Regulator for a Robot in Compliant Contact with an Unknown Surface
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, 2005, 2685-2690 p.Conference paper (Refereed)
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.
, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
UNCERTAIN KINEMATICS, MANIPULATORS, POSITION, FINGER
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50921DOI: 10.1109/ROBOT.2005.1570519ISI: 000235460102049OAI: oai:DiVA.org:kth-50921DiVA: diva2:463040
IEEE International Conference on Robotics and Automation (ICRA). Barcelona, SPAIN. APR 18-22, 2005
QC 201112082011-12-082011-12-082011-12-08Bibliographically approved