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
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;
Conference_Titel :
Industrial Electronics (ISIE), 2010 IEEE International Symposium on
Conference_Location :
Bari
Print_ISBN :
978-1-4244-6390-9
DOI :
10.1109/ISIE.2010.5637615
