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Force/position control self-tuned to unknown surface slopes using motion variables

Published online by Cambridge University Press:  01 November 2008

Zoe Doulgeri  and
Yiannis Karayiannidis
Zoe Doulgeri*
Affiliation:
Department of Electrical and Computer Engneering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece
Yiannis Karayiannidis
Affiliation:
Department of Electrical and Computer Engneering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece
*
*Corresponding author. E-mail: doulgeri@eng.auth.gr
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Summary

This work considers the problem of force/position regulation for a robotic finger in compliant contact with an unknown curved surface resulting in uncertain force and position control subspaces. The proposed controller is an adaptive control scheme of a simple structure that achieves the desired target by the on-line tuning of the position and force control actions to their corresponding actual subspaces at the desired point using motion state feedback. The local asymptotic stability of the system equilibrium point is proved and an estimate of the region of attraction is given. The controller performance is illustrated by a simulation example.

Type
Article
Information
Robotica , Volume 26 , Issue 6 , November 2008 , pp. 703 - 710
Copyright
Copyright © Cambridge University Press 2008

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