The problem of regulation of force and position for robot manipulators in contact with an elastically compliant plane is considered in this work. As an improvement over a recently proposed regulator, a new control scheme is presented which does not require velocity measurements thanks to a suitable filtering action. Local asymptotic stability is proven via a Lyapunov argument. A case study is developed to illustrate the performance of the scheme on an industrial robot.
Force/position regulator for robot manipulators without velocity measurements / Siciliano, Bruno; Villani, Luigi. - STAMPA. - 3:(1996), pp. 2567-2572. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Minneapolis, MN nel April) [10.1109/ROBOT.1996.506549].
Force/position regulator for robot manipulators without velocity measurements
SICILIANO, BRUNO;VILLANI, LUIGI
1996
Abstract
The problem of regulation of force and position for robot manipulators in contact with an elastically compliant plane is considered in this work. As an improvement over a recently proposed regulator, a new control scheme is presented which does not require velocity measurements thanks to a suitable filtering action. Local asymptotic stability is proven via a Lyapunov argument. A case study is developed to illustrate the performance of the scheme on an industrial robot.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
