Explicit force control for manipulators with active observers

The article describes a systematic procedure to design a force controller with active observers (AOB). The design is based on pole placement using discrete state space theory. The concept of AOB is introduced as a starting point to perform robust estimates of the system state. The robustness of the system is accomplished through optimal noise processing embedded in the control strategy. The design was tested as a force controller in a Manutec R2 Robot at the DLR.

Authors

• Rui Cortesão
• Ralf Koeppe
• Urbano J. Nunes
• Gerhard Hirzinger

Keywords

• Force control
• Observers
• Control systems
• Noise robustness
• State feedback
• State-space methods
• State estimation
• Robust control
• Optimal control
• Testing
• State Space
• Action Observation
• Discrete State Space
• Pole Placement
• Free Space
• Model Plant
• Second Category
• Equation Of State
• Closed-loop System
• Plant Yield
• System Input
• State-space Model
• Transferable Skills
• End-effector
• Robust Way
• Force Feedback
• Real Plant
• Compliance Control
• Plant Input
• Classical Observables