Force and velocity observers for the control of cooperative robots1

Authors:
Juan c. Martínez-rosas;Marco a. Arteaga
Affiliations:
División de ingeniería eléctrica de la facultad de ingeniería, departamento de control y robótica, universidad nacional autónoma de méxico, apdo. postal 70-256, ...;División de ingeniería eléctrica de la facultad de ingeniería, departamento de control y robótica, universidad nacional autónoma de méxico, apdo. postal 70-256, ...
Venue:
Robotica
Year:
2008

Citing 8
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Abstract

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.