DocumentCode
1919178
Title
A force/position regulator for robot manipulators without velocity measurements
Author
Siciliano, Bruno ; Villani, Luigi
Author_Institution
Dipartimento di Inf. e Sistemistica, Naples Univ., Italy
Volume
3
fYear
1996
fDate
22-28 Apr 1996
Firstpage
2567
Abstract
The problem of regulation of force and position for robot manipulators in contact with an elastically compliant plane is considered in this work. As an improvement over a recently proposed regulator, a new control scheme is presented which does not require velocity measurements due to a suitable filtering action. Local asymptotic stability is proven via a Lyapunov argument. A case study is developed to illustrate the performance of the scheme on an industrial robot
Keywords
Lyapunov methods; asymptotic stability; control system synthesis; filtering theory; force control; industrial robots; manipulator dynamics; position control; tracking; Lyapunov argument; asymptotic stability; elastically compliant plane; filtering; force control; industrial robot; manipulators; position control; robot; Asymptotic stability; Force control; Force measurement; Force sensors; Manipulators; Position control; Position measurement; Regulators; Service robots; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506549
Filename
506549
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