Name
Abstract | ||
|---|---|---|
In this work the problem of designing a low complexity state feedback controller which enforces the domination of the rolling motion of a spherical robotic fingertip upon a curved surface is considered. Fingertip rolling is essential for robot object fine positioning and manipulation and should be explicitly considered as a control objective. The prescribed performance control methodology is employed. Under the designed controller, the sliding and spinning regime of the robot tip motion is quickly suppressed, a desired position and normal force is reached with prespecified transient and steady state behavior while contact maintenance is guaranteed. Simulations validate the approach. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/MED.2016.7535888 | 2016 24th Mediterranean Conference on Control and Automation (MED) |
Keywords | Field | DocType |
rolling motion,curved surface,prescribed performance control | Performance control,Control theory,Spinning,Full state feedback,Control theory,Computer science,Control engineering,Steady state,Normal force,Robot | Conference |
ISSN | ISBN | Citations |
2325-369X | 978-1-4673-8347-9 | 0 |
PageRank | References | Authors |
0.34 | 9 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Leonidas Droukas | 1 | 9 | 2.20 |
| George A. Rovithakis | 2 | 749 | 45.73 |
| Zoe Doulgeri | 3 | 332 | 47.11 |