Adaptive interaction robot control with estimation of contact force

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

Risultato della ricerca: Otherpeer 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 originaleEnglish
Pagine6782-6785
Numero di pagine4
Stato di pubblicazionePublished - 2008

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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