A force/position regulator for robot manipulators without velocity measurements

Abstract

The problem of regulation of force and position for robot manipulators in contact with an elastically compliant plane is considered in this work. As an improvement over a recently proposed regulator, a new control scheme is presented which does not require velocity measurements due to a suitable filtering action. Local asymptotic stability is proven via a Lyapunov argument. A case study is developed to illustrate the performance of the scheme on an industrial robot.