Force/position tracking of a robot in compliant contact with unknown stiffness and surface kinematics

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 4190-4195

  Doulgeri, Zoe ^a,b   Karayiannidis, Yiannis ^a,b  

^a IEEE   (Greece)

^b ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLIANT CONTACT; POSITION TRAJECTORY TRACKING; ROBOTIC FINGERS; SURFACE KINEMATICS;

ADAPTIVE CONTROL SYSTEMS; KINEMATICS; PARAMETER ESTIMATION; PROBLEM SOLVING; TRACKING (POSITION); UNCERTAINTY ANALYSIS;

ROBOTICS;

EID: 36348984523     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.364123     Document Type: Conference Paper

References (15)

1. Y. Zhao and C. C. Cheah, "Hybrid vision-force control for robot with uncertainties," in Proc. IEEE 2004 International Conference on Robotics and Automation, 2004, pp. 261-266.
2. C. C. Cheah, S. Kawamura, and S, Arimoto, "Stability of hybrid position and force control for robotic kinematics and dynamics uncertainties," Automatica, vol. 39, pp. 847-855, 2003.
3. C. C. Cheah, Y. Zhao, and J. Slotine, "Adaptive jacobian motion and force tracking control for constrained robots with uncertainties," in Proc. IEEE 2006 International Conference on Robotics and Automation, May'.2006, pp. 2226-2231.
4. M. Namvar and F. Aghili, "Adaptive force-motion control of coordinated robot interacting with geometrically unknown environments," IEEE Trans. Robot. Automat., vol. 21, no. 4, pp. 678-694, 2005.
5. D. Xiao, B. Ghosh, N. Xi, and T. Tarn, "Sensor-based hybrid position/force control of a robot manipulator in an uricalibrated environment," IEEE Trans. Contr, Syst. Technol., vol. 8, no. 4, pp. 635-645, 2000.
6. T. Yoshikawa and A. Sudou, "Dynamic hybrid position/force control of robot manipulators, - on-line estimation of unknown constraint," IEEE Trans. Robot. Automat., vol. 9, no. 2, pp. 220-226, 1993.
7. S. Chiaverini, B. Siciliano, and L. Villani, "Force/position regulation of compliant robot manipulators," IEEE Trans. Automat, Contr., vol. 39, no. 3, pp. 647-652, 1994.
8. Y. Karayiannidis and Z. Doulgeri, "An adaptive law for slope identification and force position regulation using motion variables," in Proc.IEEE 2006 International Conference on Robotics and Automation, May 2006, pp. 3538-3543.
9. Z. Doulgeri and S. Arimoto, "A position/force control for a robot finger with soft tip and uncertain kinematics " Journal of Robotic Systems, vol. 19, no. 3, pp. 115-131, 2002.
10. R. Careli, R, Kelly, and R. Ortega, "Adaptive force control of robot manipulators," Int. J. Control, vol. 52, pp. 37-54, 1990.
11. S. Chiaverini, B. Siciliano, and L. Villani, "Force and position tracking: Parallel control with stiffness adaptation," IEEE Control Syst. Mag., vol. 18, no. 1, pp. 27-33, 1998.
12. B. Yao, S. Chan, and D. Wang, "Variable structure adaptive motion and force control of robot manipulators," Automatica, vol. 30, no. 9, pp. 1473-1477, 1994.
13. L. Villani, C. C. de Wit, and B. Brogliato, "An exponentially stable adaptive control for force and position tracking of robot manipulators," IEEE Trans. Automat. Contr., vol. 44, no. 4, pp. 798-802, 1999.
14. G. Ambrosi, A. Bichi, D.D.Rossi, and E.P.Scilingo, "The role of contact area spread rate, in haptic discrimination, of softness," in Proc. IEEE 1999 International Conference on Robotics and Automation, 1999, pp. 305-310.
15. P. A. Ioannou and J. Sun, Robust Adaptive Control. Upper Saddle River, NJ:Prentice Hall, 1996.