Adaptive interaction robot control with estimation of contact force

Filippo D'Ippolito; Francesco Alonge; Antonino Bruno; Francesco Alonge; Filippo D'Ippolito

Adaptive interaction robot control with estimation of contact force

Filippo D'Ippolito, Francesco Alonge, Antonino Bruno, Francesco Alonge, Filippo D'Ippolito

Ingegneria

Risultato della ricerca: Other › peer review

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.

Lingua originale	English
Pagine	6782-6785
Numero di pagine	4
Stato di pubblicazione	Published - 2008

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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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 = "Filippo D'Ippolito and Francesco Alonge 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 - D'Ippolito, Filippo

AU - Alonge, Francesco

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.

UR - http://hdl.handle.net/10447/35236

M3 - Other

SP - 6782

EP - 6785

ER -