Published online by Cambridge University Press: 01 January 2008
In this paper, we design a position/force controller for cooperative robots during constrained motion. The proposed scheme is based on the knowledge of the manipulator dynamics and does not require measurements of link velocity or end-effector contact forces. A well-known velocity observer and the design of a force observer are used. The validity of the proposed method is verified by means of experimental results.
This work is based on research supported by the CUDI, by the DGAPA–UNAM under Grants IN119003 and IN109306, and by the CONACYT.