Abstract
The model-based compensation requirements of the direct force control schemes in the previous chapter can be relaxed by resorting to an adaptive control acting on the estimates of the dynamic parameters. A regulation scheme and a passivity-based control scheme are developed with reference to the manipulator dynamics in the task space. Output feedback versions of the control schemes are derived to cope with the lack of joint velocity measurements. Experimental results of the advanced force and position control schemes are presented throughout the chapter.
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© 1999 Springer Science+Business Media New York
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Siciliano, B., Villani, L. (1999). Advanced Force and Position Control. In: Robot Force Control. The Springer International Series in Engineering and Computer Science, vol 540. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-4431-9_5
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DOI: https://doi.org/10.1007/978-1-4615-4431-9_5
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6995-0
Online ISBN: 978-1-4615-4431-9
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