Adaptive control for frictional robot contact tasks on uncertain surface slopes
2008 (English)In: 2008 MEDITERRANEAN CONFERENCE ON CONTROL AUTOMATION, VOLS 1-4, NEW YORK: IEEE , 2008, 1300-1305 p.Conference paper (Refereed)
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.
FORCE CONTROL, KINEMATIC UNCERTAINTIES, HYBRID-POSITION, SOFT TIP, MANIPULATOR, STABILITY, FINGER, MOTION
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50979DOI: 10.1109/MED.2008.4602184ISI: 000261534400217ISBN: 978-1-4244-2504-4OAI: oai:DiVA.org:kth-50979DiVA: diva2:463132
16th Mediterranean Conference on Control and Automation. Ajaccio, FRANCE. JUN 25-27, 2008
QC 201112122011-12-082011-12-082011-12-12Bibliographically approved