DocumentCode
2105718
Title
An adaptive law for slope identification and force position regulation using motion variables
Author
Karayiannidis, Yiannis ; Doulgeri, Zoe
Author_Institution
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki
fYear
2006
fDate
15-19 May 2006
Firstpage
3538
Lastpage
3543
Abstract
This work proposes an adaptive control law for the force position regulation problem under surface kinematic uncertainties. A compliant contact with friction is considered. The control law achieves exact regulation of force and position along the surface tangent by identifying the surface slope. The asymptotic stability of the closed loop system equilibrium point is proved in a local sense and is demonstrated by a simulation example
Keywords
adaptive control; asymptotic stability; closed loop systems; force control; friction; manipulator kinematics; motion control; position control; uncertain systems; adaptive control; asymptotic stability; closed loop system; force position regulation; friction; motion variables; slope identification; surface kinematic uncertainties; Adaptive control; Asymptotic stability; Force control; Force measurement; Friction; Jacobian matrices; Kinematics; Manipulator dynamics; Uncertainty; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642242
Filename
1642242
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