Decentralized control of cooperative robots without velocity-force measurements

Authors:
Juan C. MartíNez-Rosas;Marco A. Arteaga;AdriáN M. Castillo-SáNchez
Affiliations:
Departamento de Control y Robótica, División de Ingeniería Eléctrica de la Facultad de Ingeniería, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, ...;Departamento de Control y Robótica, División de Ingeniería Eléctrica de la Facultad de Ingeniería, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, ...;Departamento de Control y Robótica, División de Ingeniería Eléctrica de la Facultad de Ingeniería, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, ...
Venue:
Automatica (Journal of IFAC)
Year:
2006

Citing 6
Cited 2

Historical perspective and state of the art in robot force control

International Journal of Robotics Research
High Precision Constrained Grasping with Cooperative Adaptive Handcontrol

Journal of Intelligent and Robotic Systems
Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Brief Robot control and parameter estimation with only joint position measurements

Automatica (Journal of IFAC)
Brief Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties

Automatica (Journal of IFAC)
Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.14

Visualization

Abstract

One of the main practical problems on cooperative robots is the complexity of integrating a large amount of expensive velocity-force sensors. In this paper, the control of cooperative robots using only joint measurements is considered to manipulate an object firmly. Experimental results are shown to support the developed theory.