Recovering model consistency for force and velocity measures in robot hybrid control

Some issues on the problem of filtering force and velocity measures, in hybrid control, for recovering their consistence with an available environment model are discussed. Since measured forces and velocities in practice do not agree exactly with the model, some filtering procedure is required for recovering consistence, before the control phase. The filtering process is addressed as the resolution of an algebraic overdetermined linear system, solvable approximately by means of weighted pseudoinversion. A basic issue is shown to be the choice of the weight matrix that, if properly defined, allows the solution of the theoretical difficulties. Examples clarify the theory