|
|||||
|
|
Robot contact tasks in the presence of control target distortions |
|
| Authors: | Y. Karayiannidis Z. Doulgeri |
| Affiliation: | 1. Department of Recreational Sport & Health Promotion, National Pingtung University of Science and Technology, Pingtung County, Taiwan;2. Department of Physical Education, National Pingtung University, Pingtung County, Taiwan;3. Institute of Physical Education, Health, and Leisure Studies, National Cheng Kung University, Tainan City, Taiwan;1. Dipartimento di Ingegneria Informatica, Automatica e Gestionale ‘Antonio Ruberti’, Sapienza Università di Roma, via Ariosto 25, 00185 Roma, Italy;2. Laboratoire des Signaux et Systèmes, CNRS-Supelec, Plateau de Moulon, 91190 Gif-sur-Yvette, France;2. Computer Vision and Active Perception Lab, KTH Royal Institute of Technology, Stockholm, Sweden |
| Abstract: | This work refers to the problem of controlling robot motion and force in frictional contacts under environmental errors and particularly orientation errors that distort the desired control targets and control subspaces. The proposed method uses online estimates of the surface normal (tangent) direction to dynamically modify the control target and control space decomposition. It is proved that these estimates converge to the actual value even though the elasticity and friction parameters are unknown. The proposed control solution is demonstrated through simulation examples in three-dimensional robot motion tasks contacting both planar and curved surfaces. |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ | |
