Experimental results for a robust position and force controller implemented on a direct drive robot

Abstract

Summary In this paper we present the results obtained from the implementation of a robust position/force controller on a two-degree-of-freedom direct drive robot. The controller is based on the theoretical work presented in references 1 & 2, which guarantees Globally Uniformly Ultimately Bounded (GUUB) position tracking error and bounded force tracking error. The controller accomplishes this stability result in spite of robot model uncertainty and only requires; joint position and velocity measurements, end-effector force measurements, and bounds on the model parameters. Experimental results described in this paper serve to verify the theoretical claims.