A force control for a robot finger under kinematic uncertainties

Author

Doulgeri, Zoe ; Arimoto, Suguru

Author_Institution

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

Volume

2

fYear

1999

fDate

1999

Firstpage

1475

Abstract

We consider the problem of force regulation for the physical interaction between the soft tip of a robot finger and a rigid object under kinematic uncertainties. It is assumed that the nonlinear characteristics of the reproducing force and the finger dynamic parameters are unknown and that the kinematic uncertainties arise from both uncertain robot finger kinematics and uncertain rigid object geometry. An adaptive controller is proposed and the asymptotic stability for the force regulation problem 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

adaptive control; asymptotic stability; force control; manipulator dynamics; manipulator kinematics; adaptive control; asymptotic stability; dynamics; force control; kinematics; manipulators; planar robot finger; Asymptotic stability; Damping; Fingers; Force control; Force measurement; Force sensors; Pressing; Robot kinematics; Uncertainty; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772568

Filename

772568