RA-L 201616 citations
Constraint-Based and Sensorless Force Control With an Application to a Lightweight Dual-Arm Robot
Davide Nicolis, Andrea Maria Zanchettin, Paolo Rocco
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.
BibTeX
@inproceedings{ral2016_constraintbaseda,
title = {Constraint-Based and Sensorless Force Control With an Application to a Lightweight Dual-Arm Robot},
author = {Davide Nicolis and Andrea Maria Zanchettin and Paolo Rocco},
booktitle = {RA-L 2016},
year = {2016}
}