Cart (Loading....) | Create Account
Close category search window
 

Learning friction estimation for sensorless force/position control in industrial manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Zahn, V. ; Dept. of Comput. Sci., Bonn Univ., Germany ; Maas, R. ; Dapper, M. ; Eckmiller, R.

We present a novel type of friction estimation applied to the field of sensorless force/position control. As part of a position based neural force control (NFC-P) the estimation friction and external force allows a force/position control without using a force sensor. NFC-P consists of a hybrid force/position controller that accurately generates contact forces to objects with arbitrary flexibility and uncertain distance or shape. NFC-P performs force control by modifying the desired joint angle changes in force direction before they are fed into a computed torque controller. The inverse dynamics of the manipulator is modeled in a computed torque controller. Kinematic mappings guarantee singularity robustness in the entire workspace. Results from real time experiments are presented with a 6-DOF industrial manipulator as a testbed

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.