A THEORETICAL AND EXPERIMENTAL INVESTIGATION OF EXPLICIT FORCE CONTROL STRATEGIES FOR MANIPULATORS

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-based categories, according to previously reported implementations. Each of the controller types within these categories is 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. Finally, all of the controllers are experimentally tested on the CMU DD Arm II, confirming the theoretical predictions. Among the important results presented is the conclusive demonstration for the first time that integral gain control is the best basic strategy for force control of manipulators.