Integral force control with robustness enhancement

Abstract

Three robustness enhancement modifications to the standard integral force feedback control are presented. These modifications help to reduce the initial impact force of the robot gripper on the environment and maintain contact with the environment in the presence of disturbances. By combining all of the modifications into the force integral feedback algorithm, the best features of each modification are obtained. The result is a force control algorithm which maintains contact with a rigid surface and remains stable in the presence of large force disturbances.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>