Force Estimation and Control in Robot Manipulators
Författare
Redaktör
- Ignacy Duleba
- Jerzy Sasiadek
Summary, in English
In this paper we present some results on model based force estimationand how these estimates can be integrated in a common robot force controlscheme. A generalization of the force estimation method proposed inHacksel and Salcudean (1994) is done and a force observerable to follow ramp environmental forces is introduced. Anextension of this method for robotic manipulators is also experimentallyverified for an industrial robot with an open control systemarchitecture during a force control task.
Avdelning/ar
Publiceringsår
2004
Språk
Engelska
Sidor
31-36
Publikation/Tidskrift/Serie
Robot control 2003 : A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003
Volym
1
Dokumenttyp
Konferensbidrag
Förlag
Elsevier
Ämne
- Control Engineering
Nyckelord
- Observers
- Robot Control
- Force Control
Status
Published
Projekt
- LU Robotics Laboratory
ISBN/ISSN/Övrigt
- ISBN: 0-08-044009-6