A simple application of GPI observers to the force control of robots

@article{Arteaga2014ASA,
  title={A simple application of GPI observers to the force control of robots},
  author={Marco A. Arteaga and Alejandro Gutierrez-Giles},
  journal={2014 International Conference on Control, Decision and Information Technologies (CoDIT)},
  year={2014},
  pages={303-308}
}
In this work the design of a linear observer-linear controller robust output feedback scheme is introduced for simultaneous trajectory tracking of position and force in fully actuated robot manipulators. The unknown state-dependent additive nonlinearity influencing the input-output description is modeled as an absolutely bounded “time-varying perturbation”. Generalized Proportional Integral (GPI) observers are shown to naturally estimate the unknown perturbation and a certain number of its time… CONTINUE READING
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