๐”– Bobbio Scriptorium
โœฆ   LIBER   โœฆ

A position/force control for a robot finger with soft tip and uncertain kinematics

โœ 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

No coin nor oath required. For personal study only.


๐Ÿ“œ SIMILAR VOLUMES


Force position control for a robot finge
โœ Z. Doulgeri; Y. Karayiannidis ๐Ÿ“‚ Article ๐Ÿ“… 2007 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 869 KB

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

A passivity-based adaptive sliding mode
โœ Vicente Parra-Vega; Suguru Arimoto ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 677 KB

Based on a novel orthogonalized sliding mode error co-ordinate system, a passivity-based adaptive sliding mode control that yields the global exponential convergence of position and force tracking errors is proposed. The holonomic constraint is efficiently manipulated to derive two orthogonal transf