• DocumentCode
    702452
  • Title

    Force control with a velocity observer

  • Author

    Gudino-Lau, J. ; Arteaga, M.A.

  • Author_Institution
    Sección de Eléctrica, Division de Estudios de Posgrado de la Facultad de Ingeniería Universidad Nacional Autónoma de México, Apdo. Postal 70-256, México, D. F., 04510, México
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    3046
  • Lastpage
    3051
  • Abstract
    The aim of this paper is to study the force/position tracking problem of robot manipulators using the well-known hybrid/position control approach. It is shown that the robot system is closed-loop stable and that the desired force can always be reached. A systematic procedure of control synthesis is presented and stability conditions for the control parameters are derived. No velocity measurements are assumed to be available, so that a nonlinear observer is proposed.
  • Keywords
    Force; Force control; Joints; Manipulators; Observers; Robot kinematics; Force control; observer design;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7086506
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702452