Abstract
In this paper, some results concerning the detection and control of the relative motion (slippage) of two bodies in contact are presented. Main motivation of this research can be found in advanced manipulation with robotic systems, in which, depending on the particular task to be executed, it might be desirable either to avoid or to exploit the slippage of the manipulated object. Main contribution of this paper is that, besides the linear Coulomb friction effect (and therefore translational motions), also the rotational case is addressed. Experimental results are presented considering both the detection of the motion (slippage) and its subsequent control.
Published Version
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