Position/force control for a soft tip robot finger under kinematic uncertainties

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 3867-3872

  Doulgeri, Z ^a   Simeonidis, A ^a   Arimoto, S ^a  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE ERROR; POSITION ERROR; ROBOT FINGER;

ADAPTIVE CONTROL SYSTEMS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); ERRORS; FORCE CONTROL; FORCE MEASUREMENT; KINEMATICS; MOTION PLANNING; POSITION CONTROL; POSITION MEASUREMENT; UNCERTAIN SYSTEMS;

END EFFECTORS;

EID: 0033702468     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Cheah, C.C., Han, H-Y, Kawamura, S., Arimoto, S. 1998. (Leuven, Belgium). Grasping and position control for multi-.fingered robot hands with uncertain Jacobian matrices. Proc. IEEE Int. Conf Robotics and Automation, pp. 2403-2408.
2. Cheah, C.C., Kawamura, S., Arimoto, S. 1998. Hybrid position and force control for robotic manipulator with a class of constraint uncertainty. USA Japan Symposium on Flexible Automation, Otsu, Japan, pp. 501-507.
3. Arimoto, S., Han, H-Y., Cheah, C.C., and Kawamura, S. 1999. Extension of impedance matching to nonlinear dynamics of robotic tasks. Systems and Control Letters, Vol. 36, pp. 109-119.
4. Doulgeri, Z., Arimoto, S. 1999. A force control for a robot finger under kinematic uncertainties, Proc. IEEE Int. Conf: Robotics and Automation, ICRA 99, Detroit, USA, May 10-15, 1999, pp. 1475-1480
5. Arimoto, S. 1996. Control Theory of Non-linear Mechanical Systems: A passivity based and Circuit theoretic approach, Oxford: Clarendon Press.
6. Ambrosi, G., Bicchi, A., Rossi, D.D. and Scilingo, E.P. 1999. The role of contact area spread rate in haptic discrimination of softness. Proc. IEEE Conf Robotics and Automation, pp. 305-310.