Name
Title | ||
|---|---|---|
Prescribed contact establishment of a robot with a planar surface under position and stiffness uncertainties. |
Abstract | ||
|---|---|---|
Robot arms that operate in unstructured and dynamic environments often need to establish contact with a planar surface, while avoiding the appearance of excessive contact forces. This is a difficult task given that exact knowledge of the robot or the environment model parameters is not available. In this paper a novel, continuous in time, controller is designed, capable of establishing and maintaining contact of the robot with a planar surface of unknown stiffness and position. The proposed control scheme guarantees that the resulted contact force, normal to the surface, is a priori bounded by user-defined bounds, while imposing prescribed transient and steady-state performance attributes on the post-contact position and orientation error response. All remaining closed-loop signals are also kept bounded. The controller is validated via experimental studies performed on a KUKA LWR 4+ robot. Additionally, a comparison is conducted with a relative approach from the literature. The results verify the theoretical findings. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1016/j.robot.2018.03.005 | Robotics and Autonomous Systems |
Field | DocType | Volume |
Control theory,Stiffness,Simulation,Computer science,A priori and a posteriori,Contact force,Planar,Robot,Bounded function | Journal | 104 |
ISSN | Citations | PageRank |
0921-8890 | 2 | 0.41 |
References | Authors | |
7 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| George S. Kanakis | 1 | 2 | 0.75 |
| Fotios Dimeas | 2 | 39 | 6.45 |
| George A. Rovithakis | 3 | 749 | 45.73 |
| Zoe Doulgeri | 4 | 332 | 47.11 |