Generalized Proportional Integral observer–based force control in robot manipulators
In this work the design of a linear observer–linear controller robust output feedback scheme is introduced for simultaneous trajectory tracking of position and force in fully actuated robot manipulators. The unknown state–dependent additive nonlinearity influencing the input–output description is mo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politecnica de Valencia
2016-04-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/9306 |