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Force Estimation and Control in Robot Manipulators

Alcocer, Alex ; Robertsson, Anders LU ; Valera, Angel and Johansson, Rolf LU orcid (2004) 1. p.31-36
Abstract
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.
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Observers, Robot Control, Force Control
host publication
Robot control 2003 : A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003 - A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003
editor
Duleba, Ignacy and Sasiadek, Jerzy
volume
1
pages
31 - 36
publisher
Elsevier
ISBN
0-08-044009-6
project
RobotLab LTH
language
English
LU publication?
yes
id
2ab44400-6167-4178-9265-715cc1cfe519 (old id 536765)
date added to LUP
2016-04-04 10:13:32
date last changed
2019-12-11 09:36:32
@inproceedings{2ab44400-6167-4178-9265-715cc1cfe519,
  abstract     = {{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.}},
  author       = {{Alcocer, Alex and Robertsson, Anders and Valera, Angel and Johansson, Rolf}},
  booktitle    = {{Robot control 2003 : A proceeding volume from the 7th IFAC Symposium Wroclaw, Poland, 1-3 September 2003}},
  editor       = {{Duleba, Ignacy and Sasiadek, Jerzy}},
  isbn         = {{0-08-044009-6}},
  keywords     = {{Observers; Robot Control; Force Control}},
  language     = {{eng}},
  pages        = {{31--36}},
  publisher    = {{Elsevier}},
  title        = {{Force Estimation and Control in Robot Manipulators}},
  volume       = {{1}},
  year         = {{2004}},
}