A force control for a robot finger under kinematic uncertainties

摘要

We consider the problem of force regulation for the physical interaction between the soft tip of a robot finger and a rigid object under kinematic uncertainties. It is assumed that the nonlinear characteristics of the reproducing force and the finger dynamic parameters are unknown and that the kinematic uncertainties arise from both uncertain robot finger kinematics and uncertain rigid object geometry. An adaptive controller is proposed and the asymptotic stability for the force regulation problem under dynamic and kinematic uncertainties is shown for the planar case. Simulation results for a 3-degrees-of-freedom planar robotic finger are presented.