A force commanded impedance control for a robot finger with uncertain kinematics

Journal Article · Fri Oct 01 00:00:00 EDT 1999 · International Journal of Robotics Research

DOI:https://doi.org/10.1177/02783649922067681· OSTI ID:20001205

Doulgeri, Z; Arimoto, Suguru

The authors consider the problem of impedance control for the physical interaction between the soft tip of a robot finger, where the nonlinear characteristics of the reproducing force and the finger dynamic parameters are unknown, and a rigid object or environment under kinematic uncertainties arising from both uncertain contact point location and uncertain rigid object geometry. An adaptive controller is proposed, and the asymptotic stability of the force regulation problem is shown for the planar case even when finger kinematics and rigid surface orientation are uncertain. Confirmation of the theoretical findings is done through simulation of a 3-degree-of-freedom planar robotic finger.

• Research Organization: Aristotle Univ. of Thessaloniki (GR)
• OSTI ID: 20001205
• Journal Information: International Journal of Robotics Research, Vol. 18, Issue 10; Other Information: PBD: Oct 1999; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
ROBOTS
CONTROL SYSTEMS
FINGERS
MATERIALS HANDLING