Adaptive interaction robot control with estimation of contact force

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

Risultato della ricerca: Other

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 originaleEnglish
Pagine6782-6785
Numero di pagine4
Stato di pubblicazionePublished - 2008

    Fingerprint

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cita questo

Alonge, F., D'Ippolito, F., Bruno, A., Alonge, F., & D'Ippolito, F. (2008). Adaptive interaction robot control with estimation of contact force. 6782-6785.