This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.
Alonge F, D'Ippolito F, Bruno A (2008). Adaptive interaction robot control with estimation of contact force. In 17th IFAC World Congress (pp.6782-6785). IFAC [10.3182/20080706-5-KR-1001.01149].
Adaptive interaction robot control with estimation of contact force
ALONGE, Francesco;D'IPPOLITO, Filippo;
2008-01-01
Abstract
This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.
File in questo prodotto:
| File | Dimensione | Formato | |
|---|---|---|---|
|
1-s2.0-S1474667016400339-main.pdf
Solo gestori archvio
Descrizione: Articolo principale
Dimensione
226.88 kB
Formato
Adobe PDF
|
226.88 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
