Adaptive control of robot contact tasks with on-line learning of planar surfaces

DOI10.1016/j.automatica.2009.06.023zbMath1179.93075OpenAlexW2040808731MaRDI QIDQ1049111

Zoe Doulgeri, Yiannis Karayiannidis

Publication date: 8 January 2010

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2009.06.023

zbMATH Keywords

adaptive surface learningconstrained robotforce/motion trackinguncertain surface kinematics

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Control/observation systems involving computers (process control, etc.) (93C83) Geometric methods (93B27)

Related Items

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

Cites Work

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• A survey of models, analysis tools and compensation methods for the control of machines with friction
• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
• Modelling and control of robot manipulators.
• Force/Position Regulation for a Robot in Compliant Contact Using Adaptive Surface Slope Identification