Robust Adaptive Position/Force Control of Mobile Manipulators: Theory and Experiments

2011 ◽  
Vol 4 (4) ◽  
pp. 305-314
Author(s):  
Tatsuo NARIKIYO ◽  
Michihiro KAWANISHI ◽  
Tomohito MIZUNO ◽  
Yasuo HANADA
Keyword(s):  
Force Control ◽  
Mobile Manipulators ◽  
Robust Adaptive ◽  
Theory And Experiments

Robot force control without dynamic model: theory and experiments

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 149-171 ◽  
Author(s):  
Juan C. Rivera-Dueñas ◽  
Marco A. Arteaga-Pérez
Keyword(s):  
Model Theory ◽  
Contact Surface ◽  
Force Control ◽  
Control Algorithm ◽  
Velocity Measurements ◽  
Unit Quaternion ◽  
End Effector ◽  
Simulation Results ◽  
The Many ◽  
Theory And Experiments

SUMMARYAmong the many challenges to deal with, when a robot is interacting with its environment, friction at the contact surface and/or at the joints is one of the most important to be considered. In this paper we propose a control algorithm for the tracking of position and force (unconstrained orientation case only) of a manipulator end-effector that does not require the robot model for implementation. This characteristic has the advantage of making it capable to compensate friction effects without any previous estimation. Furthermore, no velocity measurements are needed, and the unit quaternion is employed for orientation control. Experimental and simulation results are provided.

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