A position/force control for a soft tip robot finger under kinematic uncertainties

Author

Doulgeri, Z. ; Simeonidis, A. ; Arimoto, S.

Author_Institution

Dept. of Electr. & Comput. Eng., Aristotelian Univ. of Thessaloniki, Greece

Volume

4

fYear

2000

fDate

2000

Firstpage

3867

Abstract

We consider the position and force regulation problem for a soft tip robot finger in contact with a rigid surface under kinematic uncertainties concerning the contact point location and the direction of free movement. The reproducing force is related to the displacement through a non-linear function whose characteristics are unknown but both the actual displacement and force can be directly measured. An adaptive controller is proposed and the asymptotic stability of the force error and estimated position error under dynamic and kinematic uncertainties is shown for the planar case. Simulation results for a 3-degrees-of-freedom planar robotic finger are presented

Keywords

Jacobian matrices; adaptive control; asymptotic stability; closed loop systems; dexterous manipulators; force control; manipulator dynamics; manipulator kinematics; position control; uncertain systems; 3-degrees-of-freedom planar robotic finger; dynamic uncertainties; estimated position error; force error; free movement; kinematic uncertainties; position/force control; reproducing force; rigid surface; soft tip robot finger; Adaptive control; Asymptotic stability; Displacement measurement; Error correction; Fingers; Force control; Force measurement; Kinematics; Programmable control; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845334

Filename

845334