DocumentCode
2939788
Title
An Adaptive Force Regulator for a Robot in Compliant Contact with an Unknown Surface
Author
Doulgeri, Zoe ; Karayiannidis, Yiannis
Author_Institution
Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki 54124, Greece; doulgeri@vergina.eng.auth.gr
fYear
2005
fDate
18-22 April 2005
Firstpage
2685
Lastpage
2690
Abstract
This paper refers to the problem of force regulation for a robot finger with soft tip in contact with a rigid surface with unknown geometrical characteristics. A simple adaptive controller is employed in order to cope with surface kinematic uncertainties and the asymptotic stability of the force error is shown for the spatial case. Simulation results demonstrate the controller performance.
Keywords
adaptive force control; soft hemispherical fingertip; surface kinematic uncertainties; Adaptive control; Asymptotic stability; Error correction; Fingers; Force control; Kinematics; Programmable control; Regulators; Robots; Uncertainty; adaptive force control; soft hemispherical fingertip; surface kinematic uncertainties;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570519
Filename
1570519
Link To Document