An adaptive force regulator for a robot in compliant contact with an unknown surface

被引：0
|
作者：
Doulgeri, Z [1 ]
Karayiannidis, Y [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
soft hemispherical fingertip; surface kinematic uncertainties; adaptive force control;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：2685 / 2690
页数：6
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