An Analysis Of Manipulator Force Control Strategies Applied To An Experimentally Derived Model

摘要

This paper presents a complete overview of basic strategies that have been proposed for force control of robot manipulators. First, the model of the plant to be controlled is reviewed. Next, the strategies are divided into force-based and position-ba9ed categories, according to previously reported implementations. Each of the controller types within these categories are analyzed, and predictions of stability and efficacy are made. Then it is shown that these two categories are actually the same, and this recognition leads to the concept of a novel second order low pass filter controller. All of the predictions that result from this analysis have been experimentally confirmed. Among the contributions presented here is a comprehensive explanation of why integral gain control is the best method of force control for manipula t om.