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 language | English |
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Title of host publication | 2022 IEEE 61st Conference on Decision and Control, CDC 2022 |
Publisher | IEEE Institute of Electrical and Electronic Engineers |
Pages | 1392-1397 |
ISBN (Electronic) | 978-1-6654-6761-2, 978-1-6654-6760-5 |
ISBN (Print) | 978-1-6654-6762-9 |
DOIs | |
Publication status | Published - Jan 2023 |
MoE publication type | A4 Article in a conference publication |
Event | 61st IEEE Conference on Decision and Control, CDC 2022 - Cancun, Mexico Duration: 6 Dec 2022 → 9 Dec 2022 |
Publication series
Series | Proceedings of the IEEE Conference on Decision and Control |
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Volume | 2022-December |
ISSN | 0743-1546 |
Conference
Conference | 61st IEEE Conference on Decision and Control, CDC 2022 |
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Country/Territory | Mexico |
City | Cancun |
Period | 6/12/22 → 9/12/22 |
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]