Force/position regulation for a robotic finger in compliant contact with an unknown surface

被引：0

作者：

Karayiannidis, Y ^{[1
]}

Doulgeri, Z ^{[1
]}

机构：

[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece

来源：

2005 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL & 13TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2 | 2005年

关键词：

parallel control; robot contact task; uncertain kinematics; UNCERTAIN KINEMATICS; MANIPULATORS; POSITION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we are concerned with the problem of force and position regulation of a soft robotic finger in contact with a flat unknown surface. A type of parallel control scheme with gravity compensation is applied. Using non-linear stability theory it is shown that the proposed controller achieves exact force regulation. It is further shown that position errors may stay close to zero and in some cases can even vanish even in the presence of uncertainties. Simulation results support theoretical findings.

引用

页码：77 / 82

页数：6

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