Force and velocity observers for the control of cooperative robots
Por:
Martinez-Rosas, JC, Arteaga, MA
Publicada:
1 ene 2008
Resumen:
In this paper, we design a position/force controller for cooperative robots during constrained motion. The proposed scheme is based on the knowledge of the manipulator dynamics and does not require measurements of link velocity or end-effector contact forces. A well-known velocity observer and the design of a force observer are used. The validity of the proposed method is verified by means of experimental results.
Filiaciones:
Martinez-Rosas, JC:
Univ Nacl Autonoma Mexico, Div Ingn Elect, Fac Ingn, Dept Control & Robot, Mexico City 04510, DF, Mexico
Arteaga, MA:
Univ Nacl Autonoma Mexico, Div Ingn Elect, Fac Ingn, Dept Control & Robot, Mexico City 04510, DF, Mexico
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