Title :
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
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506548
