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An adaptive law for slope identification, position tracking and force regulation 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
2007 (English)In: Mediterranean Conference on  Control & Automation, 2007. MED '07., 2007, 52-57 p.Conference paper, Published paper (Refereed)
Abstract [en]

This work deals with the problem of force regulation and position trajectory tracking for a robot in compliant contact under kinematic uncertainties. A robotic finger with a soft hemispherical tip of uncertain compliance is considered in contact with a rigid flat surface of unknown position and orientation. A novel adaptive controller is proposed and is proved to achieve the convergence of force and position errors to zero by identifying the slope given a persistently excited desired velocity. The performance of the proposed controller is demonstrated by a simulation example.

Place, publisher, year, edition, pages
2007. 52-57 p.
Keyword [en]
HYBRID-POSITION, MANIPULATORS, KINEMATICS, MOTION
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50978DOI: 10.1109/MED.2007.4433936ISI: 000257100800010ISBN: 978-1-4244-1281-5 (print)OAI: oai:DiVA.org:kth-50978DiVA: diva2:463130
Conference
Mediterranean Conference on Control and Automation Location: Athens, GREECE Date: JUN 27-29, 2007
Note
QC 20111213Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-13Bibliographically 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
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • text
  • asciidoc
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