Force Estimation and Control in Robot Manipulators
(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:
https://lup.lub.lu.se/record/39091786-95f9-4976-95ae-cefad0ec6f68
- author
- Alcocer, Alex ; Robertsson, Anders LU ; Valera, Angel and Johansson, Rolf LU
- organization
- publishing date
- 2003
- 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}}, }