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Force Estimation and Control in Robot Manipulators

Författare:
Redaktör:
  • Jerzy Sasiadek
  • Ignacy Duleba
Publiceringsår: 2004
Språk: Engelska
Sidor: 31-36
Publikation/Tidskrift/Serie: Robot control 2003
Dokumenttyp: Konferensbidrag
Förlag: Elsevier

Sammanfattning

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.

Disputation

Nyckelord

  • Technology and Engineering
  • Observers
  • Robot Control
  • Force Control

Övriga

Published
Yes
  • ISBN: 0-08-044009-6

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