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Force Estimation and Control in Robot Manipulators

Alcocer, Alex; Robertsson, Anders LU ; Valera, Angel and Johansson, Rolf LU (2004) In Robot control 2003 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
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Observers, Robot Control, Force Control
in
Robot control 2003
editor
Sasiadek, Jerzy; Duleba, Ignacy; and
pages
31 - 36
publisher
Elsevier
ISBN
0-08-044009-6
language
English
LU publication?
yes
id
2ab44400-6167-4178-9265-715cc1cfe519 (old id 536765)
date added to LUP
2007-09-12 10:44:43
date last changed
2016-09-23 15:15:31
@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},
  editor       = {Sasiadek, Jerzy and Duleba, Ignacy},
  isbn         = {0-08-044009-6},
  keyword      = {Observers,Robot Control,Force Control},
  language     = {eng},
  pages        = {31--36},
  publisher    = {Elsevier},
  title        = {Force Estimation and Control in Robot Manipulators},
  year         = {2004},
}