Robot contact tasks in the presence of control target distortions

Authors:
Y. Karayiannidis;Z. Doulgeri
Affiliations:
Aristotle University of Thessaloniki, Department of Electrical and Computer Engineering, University Campus, Thessaloniki 54124, Greece;Aristotle University of Thessaloniki, Department of Electrical and Computer Engineering, University Campus, Thessaloniki 54124, Greece
Venue:
Robotics and Autonomous Systems
Year:
2010

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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.