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Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback — arXiv:2609.24413

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.24413
License (as archived): CC0-1.0
Archived: 2026-10-09T22:24:26.686Z
SHA-256 of the archived text: 73f85d9aff01e53cf5843b522c0bd7b01a89b32208aa1264200bf1482b13c14b
Stable URL of this page: https://metraipolis.com/documento/dc_af8aeadddb82

How to cite

Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback — arXiv:2609.24413 — arXiv (en), https://arxiv.org/abs/2609.24413 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_af8aeadddb82 (Metraipolis archive dc_af8aeadddb82, sha256 73f85d9aff01e53cf5843b522c0bd7b01a89b32208aa1264200bf1482b13c14b)

BibTeX

@misc{dcaf8aeadddb82,
  title = {Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback — arXiv:2609.24413},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.24413},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_af8aeadddb82; sha256 73f85d9aff01e53cf5843b522c0bd7b01a89b32208aa1264200bf1482b13c14b},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.24413. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment during robotic valve manipulation. Unlike vision-based estimates, which can be affected by calibration errors, occlusion, and uncertainty in the contact geometry, reaction torques arise directly from the physical interaction between the gripper and valve. A geometric relationship exists between the error (misalignment) vector and these torques. The primary aim of this work is to propose a stable controller exploiting this geometric property. Our control law is proven to be uniformly asymptotically stable. Simulations are performed for verification. Furthermore, we experimentally test the robustness of our method using a Kinova Gen3 robotic arm for initial misalignments ranging from $-15^\circ$ to $15^\circ$ at 3 different valve positions and report the resulting data distribution. The absolute value of the median misalignment across all 18 test cases is found to be within $2.46^\circ$ and that of reaction torques within $0.23\mathrm{Nm}$.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-22 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.24413 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-09T21:59:59.717Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-22?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).