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Force Estimation and Control in Robot Manipulators

Author

Editor

  • Ignacy Duleba
  • Jerzy Sasiadek

Summary, in English

In this paper we present some results on model based force estimationand how these estimates can be integrated in a common robot force controlscheme. A generalization of the force estimation method proposed inHacksel and Salcudean (1994) is done and a force observerable to follow ramp environmental forces is introduced. Anextension of this method for robotic manipulators is also experimentallyverified for an industrial robot with an open control systemarchitecture during a force control task.

Publishing year

2004

Language

English

Pages

31-36

Publication/Series

Robot control 2003 : A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003

Volume

1

Document type

Conference paper

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

  • Observers
  • Robot Control
  • Force Control

Status

Published

Project

  • LU Robotics Laboratory

ISBN/ISSN/Other

  • ISBN: 0-08-044009-6