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High-bandwidth force and impedance control for industrial robots
Eckhard Freund, Jürgen Pesara
Journal:

Robotica / Volume 16 / Issue 1 / January 1998

Published online by Cambridge University Press:

01 January 1998, pp. 75-87
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Common geared industrial robots call for force control methods with special properties such as good rejection of frictional disturbances, smoothness of corrective motions, and more. A new method is presented which meets these requirements and provides a high control bandwidth. In the manner of hybrid control, directions of a task frame can be selected to be force, impedance or position controlled. A joint-based inner position loop and a superimposed predictive force controller are used. Practical results include data from a robotic grinding facility. Here, the controller proved robustness and good performance under rough conditions.