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 |
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Pagine | 6782-6785 |
Numero di pagine | 4 |
Stato di pubblicazione | Published - 2008 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering