An adaptive law for slope identification, position tracking and force regulation for a robot in compliant contact with an unknown surface
2007 (English)In: Mediterranean Conference on Control & Automation, 2007. MED '07., 2007, 52-57 p.Conference paper (Refereed)
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.
HYBRID-POSITION, MANIPULATORS, KINEMATICS, MOTION
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50978DOI: 10.1109/MED.2007.4433936ISI: 000257100800010ISBN: 978-1-4244-1281-5OAI: oai:DiVA.org:kth-50978DiVA: diva2:463130
Mediterranean Conference on Control and Automation Location: Athens, GREECE Date: JUN 27-29, 2007
QC 201112132011-12-082011-12-082011-12-13Bibliographically approved