Interaction Control of Robotic Manipulators Without Force Measurement

Filippo D'Ippolito; Francesco Alonge

Interaction Control of Robotic Manipulators Without Force Measurement

Filippo D'Ippolito, Francesco Alonge

Ingegneria

Risultato della ricerca: Other › peer review

6 Citazioni (Scopus)

Abstract

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 originale	English
Pagine	3245-3250
Numero di pagine	6
Stato di pubblicazione	Published - 2010

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Control and Systems Engineering

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abstract = "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.",

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AB - 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.

UR - http://hdl.handle.net/10447/56235

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