Parallel force and motion control using adaptive observer-controller

A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces compared with the same controller using filtered velocity.

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Bibliographic Details
Main Authors: Qing Hua Xia, Ser Yong Lim, Ang, Marcelo H, Tao Ming Lim
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Force control
Force feedback
Friction
friction compensation
geometric uncertainty
Mechanical engineering
Motion control
observer velocity
Orbital robotics
Parallel force and motion control
Programmable control
Pulp manufacturing
Velocity control
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Description
Summary:A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces compared with the same controller using filtered velocity.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2008.4811779