TY - GEN
T1 - Estimation of Time-Varying Parameters Defining Contact of a Planar Manipulator with a Surface
AU - Rosales, Antonio
AU - Freidovich, Leonid
N1 - Funding Information:
∗ 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. antonio.rosales@vtt.fi 2 L. Freidovich is with the Department of Applied Physics and Electronics, Umea University, Sweden. leonid.freidovich@umu.se
Publisher Copyright:
© 2022 IEEE.
PY - 2023/1
Y1 - 2023/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85147038473&partnerID=8YFLogxK
U2 - 10.1109/CDC51059.2022.9992576
DO - 10.1109/CDC51059.2022.9992576
M3 - Conference article in proceedings
AN - SCOPUS:85147038473
SN - 978-1-6654-6762-9
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1392
EP - 1397
BT - 2022 IEEE 61st Conference on Decision and Control, CDC 2022
PB - IEEE Institute of Electrical and Electronic Engineers
T2 - 61st IEEE Conference on Decision and Control, CDC 2022
Y2 - 6 December 2022 through 9 December 2022
ER -