In this paper, position/force tracking control for rigid robot manipulators interacting with its environment is considered. It is assumed that only joint angles are available for feedback, so that velocity and force observers are designed. The principle of orthogonalization is employed for this particular purpose and some of its main properties are fully exploited to guarantee local asymptotical stability. Only the force observer requires the dynamic model of the robot manipulator for implementation, and the scheme is developed directly in workspace coordinates, so that no inverse kinematics is required. The proposed approach is tested experimentally and compared with a well–known algorithm.
Velocity and Force Observers for the Control of Robot Manipulators
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 18, 2012; final manuscript received June 12, 2013; published online August 23, 2013. Assoc. Editor: Nariman Sepehri.
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Arteaga–Pérez, M. A., Rivera–Dueñas, J. C., and Gutiérrez–Giles, A. (August 23, 2013). "Velocity and Force Observers for the Control of Robot Manipulators." ASME. J. Dyn. Sys., Meas., Control. November 2013; 135(6): 064502. https://doi.org/10.1115/1.4024995
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