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This work deals with the problem of force regulation and position trajectory tracking for a robot in compliant contact under kinematic uncertainties. A robotic finger with a soft hemispherical tip of uncertain compliance is considered in contact with a rigid flat surface of unknown position and orientation. A novel adaptive controller is proposed and is proved to achieve the convergence of force and...
The problem of control law design for a system consisting of linear stationary and static nonlinear parts is considered. It is supposed that parameters of the linear block are unknown, and its input-to-output transfer function is minimum phase. It is assumed that nonlinear part of the system is known inaccurately, irreducible to the linear block input and, generally, does not satisfy sector restrictions...
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