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
2016-01-01
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:
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