Hybrid position/force sliding mode control of a class of robotic manipulators

  title={Hybrid position/force sliding mode control of a class of robotic manipulators},
  author={Ezio Bassi and Francesco Benzi and Luca Massimiliano Capisani and Davide Cuppone and Antonella Ferrara},
  journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference},
  • E. Bassi, F. Benzi, +2 authors A. Ferrara
  • Published 2009
  • Engineering, Computer Science
  • Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
This paper deals with the hybrid position/force control of a class of robotic manipulators. To perform the control scheme design, it is necessary to characterize the dynamical model of the force sensor which is mounted at the end-effector of the robot. The objective is to perform reliable contact force measurements by estimating all the forces which are generated at the level of the tip which is directly connected to the sensor. A dynamical model of the sensor motion is formulated and… Expand
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