Search results for "Robotic manipulators control"

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Interaction Control of Robotic Manipulators Without Force Measurement

2010

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.

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)

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