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.
title = "Adaptive interaction robot control with estimation of contact force",
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.",
author = "Francesco Alonge and Filippo D'Ippolito and Antonino Bruno and Francesco Alonge and Filippo D'Ippolito",
year = "2008",
language = "English",
pages = "6782--6785",
}
TY - CONF
T1 - Adaptive interaction robot control with estimation of contact force
AU - Alonge, Francesco
AU - D'Ippolito, Filippo
AU - Bruno, Antonino
AU - Alonge, Francesco
AU - D'Ippolito, Filippo
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.