GPI based velocity/force observer design for robot manipulators.
In many applications involving a robot in contact with a surface it is important to control the interaction between the manipulator and its environment, usually by employing force sensors. However, sometimes it is desirable to remove them due to a variety of reasons, e.g. high costs, noisy measurements and a narrow bandwidth. To overcome these drawbacks, in this work it is proposed as a velocity/force observer based on the Generalized Proportional Integral (GPI) technique. Joint velocities and contact forces are estimated with only position measurements and then used in a force/position control scheme. Ultimate boundedness of the observation errors is formally proven and an arbitrarily small ultimate bound is then achieved. Simulation results are used to validate the proposed approach.
Departamento de Control y Robótica, DIE, Facultad de Ingeniería, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, México, D. F., 04510, Mexico. Electronic address: alejandrogilesg@yahoo.com.mx.
Alejandro
A
Gutiérrez-Giles
Departamento de Control y Robótica, DIE, Facultad de Ingeniería, Universidad Nacional Autónoma de México, Apdo. Postal 70-256, México, D. F., 04510, Mexico. Electronic address: marteagp@unam.mx.
Marco A
MA
Arteaga-Pérez
D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D009038:Motion; D012371:Robotics / Q000379:methods*; D013314:Stress, Mechanical
GPI technique; Robot force control; Velocity/force observers