2015 European Control Conference (ECC) 2015
DOI: 10.1109/ecc.2015.7331090
|View full text |Cite
|
Sign up to set email alerts
|

Adaptive position/force control for robot manipulators in contact with a rigid surface with unknown parameters

Abstract: Most position/force control schemes assume that the contact surface is exactly known. In the presence of constraint uncertainties these controllers cannot ensure convergence to zero of position and force errors. In this work, an adaptive scheme is proposed for robot manipulators that perform interaction tasks with a rigid surface. The proposed algorithm takes into account uncertainties in robot and surface parameters. Also, it locally estimates the surface by means of force measurements. Experimental results a… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
1
1
1

Citation Types

0
3
0

Year Published

2019
2019
2022
2022

Publication Types

Select...
5

Relationship

0
5

Authors

Journals

citations
Cited by 5 publications
(3 citation statements)
references
References 18 publications
0
3
0
Order By: Relevance
“…Some authors have developed hybrid position/force control algorithms for robotic manipulation. For instance, in [53] an adaptive position/force control was designed for robot manipulators in contact with rigid surface with uncertain parameters, whilst in [54] robot manipulators were in contact with flexible environments. A different approach is the development of sliding mode control (SMC) algorithms for sanding or polishing tasks, which allow the tool to move along a surface while keeping constant pressure [44].…”
Section: Contact-driven Manipulationmentioning
confidence: 99%
“…Some authors have developed hybrid position/force control algorithms for robotic manipulation. For instance, in [53] an adaptive position/force control was designed for robot manipulators in contact with rigid surface with uncertain parameters, whilst in [54] robot manipulators were in contact with flexible environments. A different approach is the development of sliding mode control (SMC) algorithms for sanding or polishing tasks, which allow the tool to move along a surface while keeping constant pressure [44].…”
Section: Contact-driven Manipulationmentioning
confidence: 99%
“…The wide diversity of solutions when dealing with surface finishing in the industry, demonstrates the difficulties of the tasks involved and the fact that it is yet an open problem to be solved properly. Many solutions have been proposed to deal with the challenges of surface conditioning, including polishing tools able to absorb vibrations while softening the contact between both surfaces [25], [26], adaptive position/force control techniques [27], [28], or sliding mode control (SMC) algorithms to make the tool move normal to the surface, while keeping a constant pressure in polishing/sanding tasks autonomously [29] or in a human-robot cooperation framework [30].…”
Section: Surface Treatmentmentioning
confidence: 99%
“…The type of environment and the degree of its familiarity largely determine the choice of the control algorithm. An approach in which the environment is well-known is shown, among others at work [4] and [10], while dealing with limited knowledge about the environment is presented in [6,7,11,17] and [16]. In this paper we assume that environment is well known.…”
Section: �� ��Trod�c�o�mentioning
confidence: 99%