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Adaptive control for frictional robot contact tasks on uncertain surface slopes
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.
2008 (English)In: 2008 MEDITERRANEAN CONFERENCE ON CONTROL AUTOMATION, VOLS 1-4, NEW YORK: IEEE , 2008, 1300-1305 p.Conference paper (Refereed)
Abstract [en]

In robot constrained motion problems with frictional contacts, uncertainties on the contacted surface slope distort control targets and affect the control system performance. The surface normal direction cosines are in this case uncertain parameters that are involved in both the control law and the control targets. This work proposes an adaptive controller that achieves the desired goal given a persistently excited tip velocity magnitude on the surface by achieving the convergence of the estimated direction parameters to their actual values. The controller requires measurements of total force and joint variables. A simulation example for a 6 d.o.f. robot is used to illustrate the theoretical results.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2008. 1300-1305 p.
Keyword [en]
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-50979DOI: 10.1109/MED.2008.4602184ISI: 000261534400217ISBN: 978-1-4244-2504-4OAI: diva2:463132
16th Mediterranean Conference on Control and Automation. Ajaccio, FRANCE. JUN 25-27, 2008
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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