H" OBSERVER BASED FORCE CONTROL WITHOUT FORCE SENSOR

Abstract

This paper proposes the force control of robot ma- nipulator without force sensor. The proposed force control sys- tem is realized by H acceleration controller and H force ob- server. H acceleration controller regulates the actuator of robot manipulator by the acceleration control command wcmd. H force observer estimates the imposed force to the actuator. Both H systems are designed by the mixed sensitivity H control design method.