Hybrid control of force and position without force sensor

Abstract

The authors propose hybrid control of force and position without a force sensor. The proposed hybrid control system uses both the motion control method based on a H/sup infinity / acceleration controller and a force control method based on the reaction force estimation system. This system uses a position sensor signal and an estimated value of reaction force, instead of the force sensor. The H/sup infinity / acceleration controller realizes a fine and fast motion control. The proposed hybrid control was implemented in a three-degree-of-freedom direct drive robot manipulator. The test results are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>