로보트 접촉력의 미분 피이드백제어 - (실험적 검토)

Derivative Feedback control of Robot Contact Force (Experimantal Investigation)

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.