Output Feedback Hybrid Force/Motion Control for Robotic Manipulators Interacting with Unknown Rigid Surfaces

The problem of hybrid force and motion control over unknown rigid surfaces when only joint position measurements are available is considered. To overcome this problem, an extended state high-gain observer is designed to simultaneously estimate the contact force and joint velocities. These estimated...

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Veröffentlicht in:	Robotica 2020-01, Vol.38 (1), p.136-158
Hauptverfasser:	Gutiérrez–Giles, Alejandro, Arteaga–Pérez, Marco
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer simulation Contact force Mathematical analysis Motion control Output feedback Position measurement Proportional integral derivative Robot arms Robot control Subspaces Task space Tracking errors
Online-Zugang:	Volltext
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