Title :
Explicit force control for manipulators with active observers
Author :
Cortesão, Rui ; Koeppe, Ralf ; Nunes, Urbano ; Hirzinger, Gerd
Author_Institution :
Inst. of Syst. & Robotics, Coimbra Univ., Portugal
Abstract :
The article describes a systematic procedure to design a force controller with active observers (AOB). The design is based on pole placement using discrete state space theory. The concept of AOB is introduced as a starting point to perform robust estimates of the system state. The robustness of the system is accomplished through optimal noise processing embedded in the control strategy. The design was tested as a force controller in a Manutec R2 Robot at the DLR
Keywords :
closed loop systems; control system synthesis; discrete systems; force control; industrial manipulators; observers; state-space methods; Manutec R2 Robot; active observers; discrete state space theory; explicit force control; optimal noise processing; pole placement; robust estimates; Control systems; Force control; Noise robustness; Observers; Optimal control; Robust control; State estimation; State feedback; State-space methods; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893162
