Title :
A force/position regulator for robot manipulators without velocity measurements
Author :
Siciliano, Bruno ; Villani, Luigi
Author_Institution :
Dipartimento di Inf. e Sistemistica, Naples Univ., Italy
Abstract :
The problem of regulation of force and position for robot manipulators in contact with an elastically compliant plane is considered in this work. As an improvement over a recently proposed regulator, a new control scheme is presented which does not require velocity measurements due to a suitable filtering action. Local asymptotic stability is proven via a Lyapunov argument. A case study is developed to illustrate the performance of the scheme on an industrial robot
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; filtering theory; force control; industrial robots; manipulator dynamics; position control; tracking; Lyapunov argument; asymptotic stability; elastically compliant plane; filtering; force control; industrial robot; manipulators; position control; robot; Asymptotic stability; Force control; Force measurement; Force sensors; Manipulators; Position control; Position measurement; Regulators; Service robots; 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.1996.506549
