6533b821fe1ef96bd127ae89

RESEARCH PRODUCT

Interaction Control of Robotic Manipulators Without Force Measurement

Francesco AlongeA. BrunoFilippo D'ippolito

subject

Lyapunov functionAdaptive controlRobotic manipulators control adaptive control interaction control.Computer scienceRobot manipulatorControl engineeringTracking (particle physics)Computer Science::Roboticssymbols.namesakeSettore ING-INF/04 - AutomaticaControl theoryTrajectorysymbolsManipulatorConstant (mathematics)

description

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.

yearjournalcountryeditionlanguage
2010-07-01
10.1109/isie.2010.5637615http://hdl.handle.net/10447/56235