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An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment

✍ Scribed by B. Siciliano; L. Villani

Publisher: Elsevier Science
Year: 1997
Tongue: English
Weight: 393 KB
Volume: 29
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(97)90017-7

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✦ Synopsis

In this paper the problem of regulating force and position for a robot manipulator in contact with an elastically compliant environment is considered. In the framework of parallel force/position control, an output feedback regulator with gravity compensation and desired force feedforward is proposed which only requires measurements of force and position. Semiglobal stability of the closed-loop system around the equilibrium is shown via a Lyapunov argument.