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Estimation of time-varying parameters defining contact of a planar manipulator with a surface
Vtt Technical Research Centre of Finland Ltd, Oulu, Finland.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.ORCID iD: 0000-0003-0730-9441
2022 (English)In: CDC 2022: conference on decision and control, Institute of Electrical and Electronics Engineers (IEEE), 2022, p. 1392-1397Conference paper, Published paper (Refereed)
Abstract [en]

The knowledge of parameters, defining interaction of a robotic manipulator with environment, is crucial when robots execute contact-tasks involving tracking of trajectories while desired forces are applied on the environment. For contact tasks on planar surfaces, the inclination and stiffness of the surface are key parameters since the first one defines the direction of the desired force and trajectory, which are typically defined relative to a frame attached to the environment, and the second one is required to compute the control signal. There exist methods for estimation of inclination and stiffness, whenever they are constant. The estimation of time-varying stiffness and inclination is less studied. In this paper, we propose a method to estimate on-line the stiffness and inclination of the planar surface, when they are varying during the task execution. The method is based on adaptive observers that ensure asymptotic or finite-time convergence of the estimates to the real values of the parameters.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2022. p. 1392-1397
Series
IEEE Conference on Decision and Control, ISSN 07431546, E-ISSN 25762370
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-204497DOI: 10.1109/CDC51059.2022.9992576ISI: 000948128101031Scopus ID: 2-s2.0-85147038473ISBN: 9781665467612 (electronic)OAI: oai:DiVA.org:umu-204497DiVA, id: diva2:1735167
Conference
61st IEEE Conference on Decision and Control (CDC 2022), Cancún, Mexico, 6-9 december, 2022.
Available from: 2023-02-08 Created: 2023-02-08 Last updated: 2023-09-05Bibliographically approved

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Freidovich, Leonid B.

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Total: 126 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf