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Robot force control without dynamic model: theory and experiments

Published online by Cambridge University Press:  20 April 2012

Juan C. Rivera-Dueñas  and
Marco A. Arteaga-Pérez
Juan C. Rivera-Dueñas
Affiliation:
Universidad Nacional Autónoma de México, México, D. F., 04510, México
Marco A. Arteaga-Pérez*
Affiliation:
Universidad Nacional Autónoma de México, México, D. F., 04510, México
*
*Corresponding author. E-mail: arteaga@verona.fi-p.unam.mx
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Summary

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Among the many challenges to deal with, when a robot is interacting with its environment, friction at the contact surface and/or at the joints is one of the most important to be considered. In this paper we propose a control algorithm for the tracking of position and force (unconstrained orientation case only) of a manipulator end-effector that does not require the robot model for implementation. This characteristic has the advantage of making it capable to compensate friction effects without any previous estimation. Furthermore, no velocity measurements are needed, and the unit quaternion is employed for orientation control. Experimental and simulation results are provided.

Keywords

Force controlFrictionObserver design

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 1 , January 2013 , pp. 149 - 171
Copyright
Copyright © Cambridge University Press 2012

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