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
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;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570519
