Parallel force and motion control using robust velocity observer
Xia, Q.H. Lim, S.Y. Ang Jr., M.H. Lim, T.M.
Xia, Q.H.
Lim, S.Y.
Lim, T.M.
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Abstract
A parallel force and motion control algorithm using observed velocity is presented in this paper. Experimental results show improved control performance in both force and motion subspaces as compared with the controller using filtered velocity.
Keywords
Backwards difference, Dynamic model, Force control subspace, Motion control subspace, Observer-controller, Operational space, Parallel force and motion control, Position linearization, Velocity observation
Source Title
IFAC Proceedings Volumes (IFAC-PapersOnline)
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Date
2006
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Type
Conference Paper