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

Robotica

Volumn 26, Issue 6, 2008, Pages 703-710

  Doulgeri, Zoe ^a   Karayiannidis, Yiannis ^a  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; FEEDBACK; FORCE CONTROL; NEURAL NETWORKS; SYSTEM STABILITY;

ADAPTIVE CONTROL SCHEMES; COMPLIANT CONTACTS; CONTROLLER PERFORMANCES; CURVED SURFACES; LOCAL ASYMPTOTIC STABILITIES; MOTION VARIABLES; ON-LINE; POSITION AND FORCE CONTROLS; REGION OF ATTRACTIONS; ROBOTIC FINGERS; SIMPLE STRUCTURES; SIMULATION EXAMPLES; SURFACE SLOPES; SYSTEM EQUILIBRIUM POINTS; UNCERTAIN FORCES;

STATE FEEDBACK;

EID: 54949100028     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S026357470800430X     Document Type: Article

References (14)

1. M. H. Raibert and J. J. Craig, "Hybrid position/force control of manipulators," ASME J. Syst. Metis. Control 103, 126-133 (1981).
2. S. Chiaverini and L. Sciavicco, "Force/position regulation of compliant robot manipulators," IEEE Trans. Robot. Autom. 9(4), 361-373 (1993).
3. C. C. Cheah, S. Kawamura and S. Arimoto, "Stability of hybrid position and force control for robotic kinematics and dynamics uncertainties," Automatica 39, 847-855 (2003).
4. Y. Zhao and C. C. Cheah, "Hybrid Vision-force Control for Robot with Uncertainties," Proceedings of the IEEE 2004 International Conference on Robotics and Automation, New Orleans, (2004) pp. 261-266.
5. T. Yoshikawa and A. Sudou, "Dynamic hybrid position/force control of robot manipulators-On-line estimation of unknown constraint," IEEE Trans. Robot. Autom. 9(2), 220-226 (1993).
6. D. Xiao, B. Ghosh, N. Xi and T. Tarn, "Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment," IEEE Trans. Control Syst. Technol. 8(4), 635-645 (2000).
7. M. Namvar and F. Aghili, "Adaptive force-motion control of coordinated robot interacting with geometrically unknown environments," IEEE Trans. Robot. Autom. 21(4), 678-694 (2005).
8. M. Namvar and F. Aghili, "Adaptive Force Control of Robots in Presence of Uncertainty in Environment," Proceedings of the 2006 American Control Conference, Minneaopolis, (Jun. 2006) pp. 3253-3258.
9. T. Olsson, J. Bengtsson, R. Johansson and H. Malm, "Force Control and Visual Servoing using Planar Surface Identification," Proceedings of the IEEE 2002 International Conference on Robotics and Automation, Washington DC, (May 2002) pp. 4211-4215.
10. Z. Doulgeri and Y. Karayiannidis, "Performance analysis of a Soft Tip Robotic Finger Controlled by a Parallel Force/Position Regulator under Kinematic ncertainties," IET Control Theory and Applications 1(1), pp. 273-280, 2007.
11. Z. Doulgeri and Y. Karayiannidis, "Force position control for a robot finger with a soft tip and kinematic uncertainties," Robot. Auton. Syst. 55(4), 328-336 (2007).
12. Y. Karayiannidis and Z. Doulgeri, "An Adaptive Law for Slope Identification and Force Position Regulation using Motion Variables," Proceedings of the IEEE 2006 International Conference on Robotics and Automation, Orlando, (May 2006) pp. 3538-3543.
13. H. Khalil. Nonlinear Systems, 3rd ed. (New Jersey, Prentice Hall, 2002).
14. C. A. Desoer and M. Vidyasagar, Feedback Systems: input-output properties, (Academic Press, New York, 1975).