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.
|Numero di pagine||4|
|Stato di pubblicazione||Published - 2008|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering