System identification: theory for the user
System identification: theory for the user
Adaptive control of mechanical manipulators
Adaptive control of mechanical manipulators
System identification
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Digital Control and Estimation: A Unified Approach
Digital Control and Estimation: A Unified Approach
How to Control Robots Interacting with Dynamic Environment
Journal of Intelligent and Robotic Systems
Self-calibrated robotic manipulator force observer
Robotics and Computer-Integrated Manufacturing
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Robot motion can be classified into free and contact motion. In practical tasks, however, the motion may transit from free motion to contact motion and vice versa. In such tasks, a position controller is designed in free motion. A compensator is then added in the force feedback loop to help the system reach the desired target impedance when the end-effector is in contact with the environment. To obtain accurate contact force, a Kalman filter is used to extract contact force from the wrist force sensor signal which contains inertial force of the end-effector also.