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

被引：9
|
作者：
Siciliano, B
Villani, L
机构：
[1] Dipto. di Informatica e Sistemistica, Univ. Studi di Napoli Federico II, 80125 Napoli
来源：
SYSTEMS & CONTROL LETTERS | 1997年 / 29卷 / 05期
关键词：
robotics; position control; force control; output feedback; Lyapunov stability;
D O I：
10.1016/S0167-6911(97)90017-7
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 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.
引用
收藏
页码：295 / 300
页数：6
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