Derivative Feedback control of Robot Contact Force (Experimantal Investigation)

로보트 접촉력의 미분 피이드백제어 - (실험적 검토)

On force control of robot, the transient response of the force is as important as the steady state value. We analyze the force for an 1 d.o.f. model. Based on the analysis, we finds out a desirable condition of the control system parameters for stability of the force. We propose a force rate feedback control for implementation. Through experiments we shows that the force can be controlled stably for an arbitrary environment.