Interaction Control of Robotic Manipulators Without Force Measurement

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6 Citazioni (Scopus)


This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. Based on Lyapunov techniques will be proved that the control law guaranties tracking of the desired Cartesian trajectory along the contact plane and of a constant desired force along reciprocal direction, without force measuring. Extensive simulations with 2-DOF manipulator illustrates the followed approach.
Lingua originaleEnglish
Numero di pagine6
Stato di pubblicazionePublished - 2010

All Science Journal Classification (ASJC) codes

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