Sensorless Approaches for Manipulation Robots Control

The problem of sensing of multilink robots to control interaction forces with manipulated objects withou use of force/torque sensors. Identification algorithms based on the method of dynamic regressor extension allows simultaneously estimate several parameters of the gravitational component of the model. Together with the agorithm of friction forces estimation this approach is applicable for arbitrary manipulation robot. Experimental testing is being carryied out using the KUKA youBot robot.