This paper focuses on the development of a control scheme capable of tracking contact forces ***,the nonlinearobserver,admittance control and adaptiveslidingmodecontrol are integrated into a single *** the force s...
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This paper focuses on the development of a control scheme capable of tracking contact forces ***,the nonlinearobserver,admittance control and adaptiveslidingmodecontrol are integrated into a single *** the force sensor is absent,a nonlinearobserver,which serves as a reaction forceobserver,can be used to estimate the contact ***,in order to track the force profile explicitly,admittance control is introduced to transform the desired contact force into the desired position *** adaptiveslidingmodecontroller is designed to track the desired position and meanwhile compensate the estimation errors of contact forces caused by nonlinear *** stability of the whole system under the proposed controller can be guaranteed by the Lyapunov ***,several simulations are reported to demonstrate the effectiveness of the proposed approach.
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