Force/position tracking of a robot in compliant contact with unknown stiffness and surface kinematics
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 (Refereed)
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.
, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
FORCE CONTROL, POSITION/FORCE CONTROL, HYBRID-POSITION, MANIPULATORS, MOTION
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50935DOI: 10.1109/ROBOT.2007.364123ISI: 000250915304031ISBN: 978-1-4244-0601-2OAI: oai:DiVA.org:kth-50935DiVA: diva2:463095
IEEE International Conference on Robotics and Automation. Rome, ITALY. APR 10-14, 2007
QC 201112122011-12-082011-12-082011-12-12Bibliographically approved