Force/Position Regulation for a Robot in Compliant Contact Using Adaptive Surface Slope Identification

DOI10.1109/TAC.2008.930183zbMath1367.93393OpenAlexW2095714930MaRDI QIDQ4974345

Yiannis Karayiannidis, Zoe Doulgeri

Publication date: 8 August 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.2008.930183

Mathematics Subject Classification ID

System identification (93B30) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

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

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