Robotic force control by using estimated contact force

Author

Huang, Han-Pang ; Tzeng, Wen-Liang

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan

fYear

1989

fDate

13-15 Dec 1989

Firstpage

2158

Abstract

In general, the contact force, which is used in controller design for robotic compliant motion, can be either explicitly calculated through complicated computation or measured by expensive force sensors. A force control strategy using the estimated contact force is proposed. The estimation of the contact force and states is primarily based on their previous observer design. It is shown that the controller achieves asymptotic stability

Keywords

force control; robots; stability; state estimation; asymptotic stability; estimated contact force; force control; observer; robotic compliant motion; state estimation; Asymptotic stability; Force control; Force measurement; Force sensors; Motion control; Motion measurement; Observers; Robot control; Robot sensing systems; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1989., Proceedings of the 28th IEEE Conference on

Conference_Location

Tampa, FL

Type

conf

DOI

10.1109/CDC.1989.70550

Filename

70550

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1944758