Force Control Of Robotic Manipulators

摘要

In this paper, the instability problem in force control system of robotic manipulators is studied and two methods of improving system stability are suggested. A unified force controller is proposed, in which, force derivative feedback and position feedback in force commanded directions are introduced. The effectiveness of the joint controller is demonstrated by simulation results on a PUMA-type manipulator with three degrees of freedom, from which several important conclusions are obtained.