Robotic force control by using estimated contact force

In general, the contact force, which is used in controller design for robotic compliant motion, can be either explicitly calculated through complicated computation or measured by expensive force sensors. A force control strategy using the estimated contact force is proposed. The estimation of the contact force and states is primarily based on their previous observer design. It is shown that the controller achieves asymptotic stability.<<ETX>>

[1]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[2]  Han-Pang Huang,et al.  Dynamics of a Closed Chain Manipulator , 1985, 1985 American Control Conference.

[3]  Han-Pang Huang,et al.  Time-optimal control for a robotic contour following problem , 1988, IEEE J. Robotics Autom..

[4]  Han-Pang Huang.  The unified formulation of constrained robot systems , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[5]  N. H. McClamroch,et al.  Feedback stabilization and tracking of constrained robots , 1988 .

[6]  Thomas Kailath,et al.  Linear Systems , 1980 .

[7]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[8]  M. Vidyasagar.  On the stabilization of nonlinear systems using state detection , 1980 .

[9]  Han-Pang Huang,et al.  An observer design for constrained robot systems , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[10]  T. R.. Harris Tephly.  Singular systems of differential equations as dynamic models for constrained robot systems , 1986 .