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Force and velocity observers for the control of cooperative robots1

Published online by Cambridge University Press:  01 January 2008

Juan C. Martínez-Rosas  and
Marco A. Arteaga
Juan C. Martínez-Rosas*
Affiliation:
División de Ingeniería Eléctrica de la Facultad de Ingeniería, Departamento de Control y Robótica, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, México, D.F. 04510, México
Marco A. Arteaga
Affiliation:
División de Ingeniería Eléctrica de la Facultad de Ingeniería, Departamento de Control y Robótica, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, México, D.F. 04510, México
*
*Corresponding author. E-mail: juan_carlos@verona.fi-p.unam.mx
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Summary

In this paper, we design a position/force controller for cooperative robots during constrained motion. The proposed scheme is based on the knowledge of the manipulator dynamics and does not require measurements of link velocity or end-effector contact forces. A well-known velocity observer and the design of a force observer are used. The validity of the proposed method is verified by means of experimental results.

Keywords

Cooperative robot systemsObserver design
Type
Article
Information
Robotica , Volume 26 , Issue 1 , January 2008 , pp. 85 - 92
Copyright
Copyright © Cambridge University Press 2007

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Footnotes

1

This work is based on research supported by the CUDI, by the DGAPA–UNAM under Grants IN119003 and IN109306, and by the CONACYT.

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