We consider the problem of force and position regulation for a robot finger with a soft tip in contact with a surface with unknown geometrical characteristics. An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to
โฆ LIBER โฆ
A position/force control for a robot finger with soft tip and uncertain kinematics
โ Scribed by Doulgeri, Zoe ;Arimoto, Suguru
- Book ID
- 112186419
- Publisher
- John Wiley and Sons
- Year
- 2002
- Tongue
- English
- Weight
- 195 KB
- Volume
- 19
- Category
- Article
- ISSN
- 0741-2223
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