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Force/position tracking of a robot in compliant contact with unknown stiffness and surface kinematics
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.
2007 (English)In: PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, NEW YORK: IEEE , 2007, 4190-4195 p.Conference paper, Published paper (Refereed)
Abstract [en]

This work deals with the problem of force/position trajectory tracking under uncertainties arising from surface position and orientation. A robotic finger with a soft hemispherical tip of uncertain compliance parameter is considered in contact with a rigid flat surface. A novel adaptive controller is designed using online estimates of the unknown parameters and is proved to achieve force and position tracking by ensuring the convergence of the estimated normal to the surface direction to its actual value. The performance of the proposed controller is demonstrated by a simulation example.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2007. 4190-4195 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
Keyword [en]
FORCE CONTROL, POSITION/FORCE CONTROL, HYBRID-POSITION, MANIPULATORS, MOTION
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50935DOI: 10.1109/ROBOT.2007.364123ISI: 000250915304031ISBN: 978-1-4244-0601-2 (print)OAI: oai:DiVA.org:kth-50935DiVA: diva2:463095
Conference
IEEE International Conference on Robotics and Automation. Rome, ITALY. APR 10-14, 2007
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
Permanent link

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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