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Force position control for a robot finger with a soft tip and kinematic uncertainties

✍ Scribed by Z. Doulgeri; Y. Karayiannidis

Publisher: Elsevier Science
Year: 2007
Tongue: English
Weight: 869 KB
Volume: 55
Category: Article
ISSN: 0921-8890
DOI: 10.1016/j.robot.2006.11.003

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✦ Synopsis

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 zero is shown for the spatial case. Simulation results demonstrate the controller performance.

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