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cooperative robot systems

Robotica (1)

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Force and velocity observers for the control of cooperative robots 1
Juan C. Martínez-Rosas, Marco A. Arteaga
Journal:

Robotica / Volume 26 / Issue 1 / January 2008

Published online by Cambridge University Press:

01 January 2008, pp. 85-92
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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.