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Robotic Force Control using Observer-based Strict Positive Real Impedance Control

Publiceringsår: 2003
Språk: Engelska
Sidor: 3686-3691
Publikation/Tidskrift/Serie: Proceedings. ICRA '03.
Volym: 3
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelationship. A good model of the robot joint used wasobtained by system identification. Experiments were carriedout on an ABB industrial robot 2000 to demonstrate resultson observer-based SPR feedback applied in the design.Stability was shown via a modified Popov criterion.


  • Control Engineering
  • velocity feedback
  • stability
  • robotic force control
  • observer
  • industrial robots
  • impedance control
  • feedback control
  • ABB industrial robot 2000
  • Popov criterion


  • ISSN: 2152-4092
  • ISSN: 1050-4729
  • ISBN: 0-7803-7736-2

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