Estimation of Time-Varying Parameters Defining Contact of a Planar Manipulator with a Surface

Antonio Rosales*, Leonid Freidovich

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2022 IEEE 61st Conference on Decision and Control, CDC 2022
PublisherIEEE Institute of Electrical and Electronic Engineers
Pages1392-1397
ISBN (Electronic)978-1-6654-6761-2, 978-1-6654-6760-5
ISBN (Print)978-1-6654-6762-9
DOIs
Publication statusPublished - Jan 2023
MoE publication typeA4 Article in a conference publication
Event61st IEEE Conference on Decision and Control, CDC 2022 - Cancun, Mexico
Duration: 6 Dec 20229 Dec 2022

Publication series

SeriesProceedings of the IEEE Conference on Decision and Control
Volume2022-December
ISSN0743-1546

Conference

Conference61st IEEE Conference on Decision and Control, CDC 2022
Country/TerritoryMexico
CityCancun
Period6/12/229/12/22

Funding

∗ Research partly supported by Business Finland and VTT Technical Research Centre of Finland Ltd. 1 A. Rosales is with the VTT Technical Research Centre of Finland Ltd, Oulu, Finland. [email protected] 2 L. Freidovich is with the Department of Applied Physics and Electronics, Umea University, Sweden. [email protected]

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