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Force Estimation and Control in Robot Manipulators

Alcocer, Alex ; Robertsson, Anders LU ; Valera, Angel and Johansson, Rolf LU orcid (2003) 36. p.55-60
Abstract
In this paper we present some results on model based force estimation and how these estimates can be integrated in a common robot force control scheme. A generalization of the force estimation method proposed in [Hacksel and Salcudean, 1994] is done and a force observer able to follow ramp environmental forces is introduced. An extension of this method for robotic manipulators is also experimentally verified using an industrial robot with an open control system architecture 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
keywords
Force Control, Robot Control, state estimation
host publication
IFAC Proceedings Volumes
volume
36
pages
6 pages
external identifiers
  • scopus:84864488350
DOI
10.1016/S1474-6670(17)33369-4
language
English
LU publication?
yes
id
39091786-95f9-4976-95ae-cefad0ec6f68
date added to LUP
2022-06-21 14:12:22
date last changed
2022-09-20 08:07:31
@inproceedings{39091786-95f9-4976-95ae-cefad0ec6f68,
  abstract     = {{In this paper we present some results on model based force estimation and how these estimates can be integrated in a common robot force control scheme. A generalization of the force estimation method proposed in [Hacksel and Salcudean, 1994] is done and a force observer able to follow ramp environmental forces is introduced. An extension of this method for robotic manipulators is also experimentally verified using an industrial robot with an open control system architecture during a force control task.}},
  author       = {{Alcocer, Alex and Robertsson, Anders and Valera, Angel and Johansson, Rolf}},
  booktitle    = {{IFAC Proceedings Volumes}},
  keywords     = {{Force Control; Robot Control; state estimation}},
  language     = {{eng}},
  pages        = {{55--60}},
  title        = {{Force Estimation and Control in Robot Manipulators}},
  url          = {{http://dx.doi.org/10.1016/S1474-6670(17)33369-4}},
  doi          = {{10.1016/S1474-6670(17)33369-4}},
  volume       = {{36}},
  year         = {{2003}},
}