Dynamic and adaptive force controllers for robotic manipulators

Abstract

A unified dynamic force control structure is proposed, based on which three force controllers with different dynamics compensations are developed. To deal with the instability problem caused by high environmental stiffness and the robustness problem introduced by model uncertainty, two adaptive force controllers are proposed. Some typical simulation results on a manipulator with three degrees of freedom are presented to test the effectiveness of and to make a performance comparison among these force controllers.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>