DocumentCode
3121843
Title
Interaction control of robotic manipulators without force measurement
Author
Alonge, F. ; Bruno, A. ; Ippolito, F.D.
Author_Institution
Dipt. di Ing. dell´´Autom. e dei Sist., Univ. of Palermo, Palermo, Italy
fYear
2010
fDate
4-7 July 2010
Firstpage
3245
Lastpage
3250
Abstract
This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. Based on Lyapunov techniques will be proved that the control law guaranties tracking of the desired Cartesian trajectory along the contact plane and of a constant desired force along reciprocal direction, without force measuring. Extensive simulations with 2-DOF manipulator illustrates the followed approach.
Keywords
adaptive control; force control; manipulators; position control; Cartesian trajectory; Lyapunov techniques; adaptive force-position control; force measurement; interaction control; robotic manipulators; Adaptation model; Estimation; Force; Joints; Manipulators; Mathematical model; adaptive control; interaction control; robotic manipulators control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics (ISIE), 2010 IEEE International Symposium on
Conference_Location
Bari
Print_ISBN
978-1-4244-6390-9
Type
conf
DOI
10.1109/ISIE.2010.5637615
Filename
5637615
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