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. [10.1109/ISIE.2010.5637615].
Interaction Control of Robotic Manipulators Without Force Measurement
ALONGE, Francesco;D'IPPOLITO, Filippo
2010-01-01
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.
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