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

Authors:
Z. Doulgeri;Y. Karayiannidis
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:
2007

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Abstract

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.