期刊
JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY
卷 14, 期 6, 页码 2575-2582出版社
SPRINGER SINGAPORE PTE LTD
DOI: 10.1007/s42835-019-00281-z
关键词
Force control; GPI technique; Sensorless force control; Hybrid force/position control; Adaptive control
This paper presents an adaptive position/force control strategy and a velocity/force observer for three DOF robot manipulators APFC-VFO (Adaptive Position/Force Control-Velocity/Force Observer). The proposed control strategy based on the Slotine-Li adaptive control algorithm is designed to control the position and force of the end-effector robot interacting with the working environment. Moreover, the NGPI (New Generalized Proportional Integral) observer is established to estimate the velocity and force of robot manipulators. The advantages of the NGPI observer strongly reduce the oscillations of velocity and force under the effect of measurements noises. The observer convergence and control stability of the robot manipulator is proved in this paper. Finally, the simulation results are performed by Matlab Simulink software to validate the proposed control and observer.
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