6533b7ddfe1ef96bd127527f

RESEARCH PRODUCT

Adaptive interaction robot control with estimation of contact force

Filippo D'ippolitoAntonino BrunoFrancesco Alonge

subject

Engineeringbusiness.industryRobot manipulatorControl engineeringGeneral Medicineadaptive controlRobot controlContact forceinteraction controlComputer Science::RoboticsLoop (topology)Settore ING-INF/04 - AutomaticaControl theoryPosition (vector)Component (UML)Adaptive interactionbusinessRobot control

description

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.

yearjournalcountryeditionlanguage
2008-01-01
10.3182/20080706-5-kr-1001.01149http://hdl.handle.net/10447/35236