Force/Position Regulation for a Robot in Compliant Contact Using Adaptive Surface Slope Identification

被引：8
|
作者：
Doulgeri, Zoe [1 ]
Karayiannidis, Yiannis [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2008年 / 53卷 / 09期
关键词：
Compliant contact; force/position regulation; uncertain surface slope;
D O I：
10.1109/TAC.2008.930183
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work proposes a 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 uncertain surface slope without any force, tactile and/or vision sensory requirements. The asymptotic stability of the closed loop system equilibrium point is proved in a local sense and is demonstrated by a simulation example.
引用
收藏
页码：2116 / 2122
页数：7
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