In this paper the problem of regulating force and position for a robot manipulator in contact with an elastically compliant environment is considered. In the framework of parallel force/position control, an output feedback regulator with gravity compensation and desired force feedforward is proposed which only requires measurements of force and position. Semiglobal stability of the closed-loop system around the equilibrium is shown via a Lyapunov argument.
An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment / Siciliano, Bruno; Villani, Luigi. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - STAMPA. - 29:(1997), pp. 295-300. [10.1016/S0167-6911(97)90017-7]
An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment
SICILIANO, BRUNO;VILLANI, LUIGI
1997
Abstract
In this paper the problem of regulating force and position for a robot manipulator in contact with an elastically compliant environment is considered. In the framework of parallel force/position control, an output feedback regulator with gravity compensation and desired force feedforward is proposed which only requires measurements of force and position. Semiglobal stability of the closed-loop system around the equilibrium is shown via a Lyapunov argument.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
