Position/force control of robot manipulators without velocity/force measurements

Author

de Queiroz, M.S. ; Dawson, D. ; Burg, T.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2561

Abstract

In this paper, we consider the problem of designing a position/force controller for robot manipulators during constrained motion. The proposed controllers are based on exact knowledge of the system dynamics and do not require measurements of link velocity and end-effector force. The elimination of velocity measurements is accomplished by two different methods: 1) a model-based velocity observer, and 2) a high-pass filtering technique. Both of the controllers also include an open-loop force control strategy to achieve semi-global exponential end-effector position/velocity/force tracking

Keywords

control system synthesis; feedforward; filtering theory; force control; manipulator dynamics; motion control; observers; position control; tracking; end-effector; force control; high-pass filtering; manipulators; model-based velocity observer; open-loop control; position control; robot; system dynamics; tracking; Control systems; Filtering; Force control; Force measurement; Manipulator dynamics; Motion control; Open loop systems; Robot control; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506548

Filename

506548