Title :
Force control with a velocity observer
Author :
Gudino-Lau, J. ; Arteaga, M.A.
Author_Institution :
Sección de Eléctrica, Division de Estudios de Posgrado de la Facultad de Ingeniería Universidad Nacional Autónoma de México, Apdo. Postal 70-256, México, D. F., 04510, México
Abstract :
The aim of this paper is to study the force/position tracking problem of robot manipulators using the well-known hybrid/position control approach. It is shown that the robot system is closed-loop stable and that the desired force can always be reached. A systematic procedure of control synthesis is presented and stability conditions for the control parameters are derived. No velocity measurements are assumed to be available, so that a nonlinear observer is proposed.
Keywords :
Force; Force control; Joints; Manipulators; Observers; Robot kinematics; Force control; observer design;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
