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 |
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Pagine | 3245-3250 |
Numero di pagine | 6 |
Stato di pubblicazione | Published - 2010 |
All Science Journal Classification (ASJC) codes
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- ???subjectarea.asjc.2200.2207???