Title :
A controller to achieve robotic soft fingertip rolling and position/force regulation using motion variables
Author :
Fasoulas, John ; Doulgeri, Zoe
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
Abstract :
In this paper we are concerned with the problem of fine positioning of a soft robotic fingertip on a flat rigid surface by evoking a rolling motion while regulating force. A simple control law is proposed that uses a reference rolling trajectory that is state dependent. The non-linear asymptotic stability of the system equilibrium is proved. Computer simulation for a planar revolute robotic finger with 3 d.o.f has been performed in order to verify the effectiveness of the control law.
Keywords :
asymptotic stability; force control; manipulators; motion control; nonlinear control systems; position control; flat rigid surface; motion variables; nonlinear asymptotic stability; planar revolute robotic finger; position-force regulation; robotic soft fingertip rolling controller; rolling motion; rolling trajectory; soft robotic fingertip; Fingers; Force; Joints; Materials; Robots; Trajectory; Vectors; force control; position control; rolling motion; soft tip;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
