The increasing demand for flexible robotized solutions in SMEs motivates the research on innovative and general control algorithms suitable for a large variety of applications. Particularly suited for this are constraint-based trajectory generation and control methods, which have been deeply investigated in the last decade. In this letter, we present an application of such a control framework for sensorless execution of a force control task as applied to a dual-arm redundant manipulator. Experiments and simulations confirm the effectiveness of the approach, even in the case of parametric uncertainties.

Constraint-based and sensorless force control with an application to a lightweight dual-arm robot

NICOLIS, DAVIDE;ZANCHETTIN, ANDREA MARIA;ROCCO, PAOLO
2016

Abstract

The increasing demand for flexible robotized solutions in SMEs motivates the research on innovative and general control algorithms suitable for a large variety of applications. Particularly suited for this are constraint-based trajectory generation and control methods, which have been deeply investigated in the last decade. In this letter, we present an application of such a control framework for sensorless execution of a force control task as applied to a dual-arm redundant manipulator. Experiments and simulations confirm the effectiveness of the approach, even in the case of parametric uncertainties.
File in questo prodotto:
File Dimensione Formato  
RA-L-2016-Nicolis-et-al.pdf

Accesso riservato

: Publisher’s version
Dimensione 848.9 kB
Formato Adobe PDF
848.9 kB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11311/1009300
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 18
  • ???jsp.display-item.citation.isi??? 16
social impact