Constraint-Based and Sensorless Force Control With an Application to a Lightweight Dual-Arm Robot
- 12 January 2016
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 1 (1), 340-347
- https://doi.org/10.1109/lra.2016.2517206
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.Keywords
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