Revised force control using a compliant sensor with a position controlled robot

A different way of force control is presented, that is especially advantageous for position controlled robots. Instead of usual force control laws we rely on the well tuned position control loop and just use the force sensor to measure the target pose or to predict the desired trajectory. In combination with a compliant sensor we introduce an inherently stable framework of force control which almost inhibits all control errors. After an unexpected impact the force error is reduced independently from the sensor's bandwidth or delays in signal processing. Thus the (inevitable) impact force is more significant than the measured force control errors. The special case of a sensor that is mounted far away from a vertex-face contact is discussed, too.

Authors

• Friedrich Lange
• Claudius Jehle
• Michael Suppa
• Gerhard Hirzinger

Keywords

• Robot sensing systems
• Force
• Force control
• Position control
• Force measurement
• Equations
• Positive Control
• Optimal Control
• Impact Force
• Control Loop
• Error Control
• Force Sensor
• Force Error
• Young’s Modulus
• Contact Point
• Feedback Control
• Sensor Locations
• Contact Force
• Joint Space
• Object Surface
• Robot Motion
• Sensor Values
• Object Pose
• Robot Dynamics
• Robot Joint
• Robotic Tools