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An adaptive law for slope identification and force position regulation using motion variables
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.
2006 (English)In: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, NEW YORK: IEEE , 2006, 3538-3543 p.Conference paper, Published paper (Refereed)
Abstract [en]

This work proposes an adaptive control law for the force position regulation problem under surface kinematic uncertainties. A compliant contact with friction is considered. The control law achieves exact regulation of force and position along the surface tangent by identifying the surface slope. The asymptotic stability of the closed loop system equilibrium point is proved in a local sense and is demonstrated by a simulation example

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2006. 3538-3543 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729 ; 1050-4729
Keyword [en]
ROBOT MANIPULATORS, HYBRID-POSITION, KINEMATICS, STABILITY
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50922DOI: 10.1109/ROBOT.2006.1642242ISI: 000240886907059ISBN: 0-7803-9505-0 (print)OAI: oai:DiVA.org:kth-50922DiVA: diva2:463043
Conference
IEEE International Conference on Robotics and Automation (ICRA). Orlando, FL. MAY 15-19, 2006
Note
QC 20111212Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-12Bibliographically approved

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Karayiannidis, Yiannis

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CiteExportLink to record
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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
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Output format
  • html
  • text
  • asciidoc
  • rtf