A force estimator based algorithm for robot control

Modifying the control algorithms to eliminate some sensors is a popular methodology to overcome the drawbacks associated with the using of these sensors. Complicating the structure of robot, impossibility to mounting on manipulator in high temperature and large noise, and high price are problems associated with the using of force/torque sensors. With this motivation, a scheme is presented in this paper to eliminate force/torque sensors. Desirable properties of the proposed scheme in the aspects of global uniform asymptotic stability, satisfactory estimation and effective tracking control are shown through strong detailed proofs and various simulation results.