Adaptive interaction robot control with estimation of contact force
- Autori: Alonge F; D'Ippolito F; Bruno A
- Anno di pubblicazione: 2008
- Tipologia: eedings
- OA Link: http://hdl.handle.net/10447/35236
This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.