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.
Alonge, F., Bruno, A., & D'Ippolito, F. (2010). Interaction Control of Robotic Manipulators Without Force Measurement. In Proceedings of Industrial Electronics (ISIE), 2010 IEEE International Symposium (pp.3245-3250). Institute of Electrical and Electronics Engineers Inc..
Autori: | Alonge, F.; Bruno, A.; D'Ippolito, F. |
Titolo: | Interaction Control of Robotic Manipulators Without Force Measurement |
Settore Scientifico Disciplinare: | Settore ING-INF/04 - Automatica |
Data di creazione: | 2010-07 |
Nome del convegno: | 2010 IEEE International Symposium on Industrial Electronics (ISIE), |
Luogo del convegno: | Bari |
Anno del convegno: | 4-7 luglio 2010 |
Data di pubblicazione: | 2010 |
Formato: | A stampa |
Numero di pagine: | 6 |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ISIE.2010.5637615 |
Citazione: | Alonge, F., Bruno, A., & D'Ippolito, F. (2010). Interaction Control of Robotic Manipulators Without Force Measurement. In Proceedings of Industrial Electronics (ISIE), 2010 IEEE International Symposium (pp.3245-3250). Institute of Electrical and Electronics Engineers Inc.. |
Tipologia: | 0 - Proceedings (TIPOLOGIA NON ATTIVA) |
Appare nelle tipologie: | 0 - Proceedings (TIPOLOGIA NON ATTIVA) |
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