Force Estimation and Control in Robot Manipulators

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.