Force control with a velocity observer
Por:
Gudiño-Lau J., Arteaga M.A.
Publicada:
1 ene 2003
Resumen:
The aim of this paper is to study the force/position tracking problem of robot manipulators using the well-known hybrid/position control approach. It is shown that the robot system is closed-loop stable and that the desired force can always be reached. A systematic procedure of control synthesis is presented and stability conditions for the control parameters are derived. No velocity measurements are assumed to be available, so that a nonlinear observer is proposed. © 2003 EUCA.