Title :
Improved force control laws for advanced tracking applications
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
Abstract :
An approach is presented to improve the performance of existing control laws when the end effector is in contact with a moving object or when it moves along the surface of the object. The approach consists of feeding forward the object motion parameters such as velocity and acceleration, in the force control law. If the motion of the object is not known in advance, its motion parameters are estimated using an observer. The approach is applied to external force control. Simulation results demonstrate the improved performance and are confirmed experimentally
Keywords :
force control; parameter estimation; position control; robots; tracking; end effector; force control; observer; parameter estimation; robots; tracking; Acceleration; Bandwidth; End effectors; Force control; Motion estimation; Multidimensional systems; Orbital robotics; Parameter estimation; Position control; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12279
