Interaction Control of Robotic Manipulators Without Force Measurement
- Autori: Alonge, F; Bruno, A; D'Ippolito, F
- Anno di pubblicazione: 2010
- Tipologia: eedings
- OA Link: http://hdl.handle.net/10447/56235
This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. Based on Lyapunov techniques will be proved that the control law guaranties tracking of the desired Cartesian trajectory along the contact plane and of a constant desired force along reciprocal direction, without force measuring. Extensive simulations with 2-DOF manipulator illustrates the followed approach.