Using an Observer in Force Control between Planar Robot and Environment

被引：0

作者：

Hoang Son ^{[1
]}

Dian Songyi ^{[1
]}

Liu Junyong ^{[1
]}

机构：

[1] Sichuan Univ, Sch Elect Engn & Informat Technol, Chengdu 610065, Sichuan Provinc, Peoples R China

来源：

2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年

关键词：

Manipulator; force control; observer;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In practice, a lot of manufacturing tasks performed by robots involve extensive contact with objects in workplace. In such tasks it is required to control the forces of interaction between the manipulator and the objects directly. In order to apply these force control algorithms, force sensors must be used in a role of output feedback signals. However, in some applications force sensors are unsuitable due to their restrictions. This paper suggests a force estimation method for robot which is based on the estimated force method with the force observer model. This method will be used to form an observer set for 2-DOF (Degree of Freedom) Planar Robot and integrate to control robot force. Through simulations, we have illustrated the feasibility of the proposed algorithm.

引用

页码：4020 / 4025

页数：6

共 13 条

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