Force Estimation and Control in Robot Manipulators
(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:
https://lup.lub.lu.se/record/536765
- author
- Alcocer, Alex ; Robertsson, Anders LU ; Valera, Angel and Johansson, Rolf LU
- organization
- publishing date
- 2004
- 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}}, }