Design method of stable force control system using new resonance ratio control and instantaneous state observer

摘要

This paper proposes a stable force control system to achieve the force control of industrial robots. The proposed stable force control system is designed by using an I-P force control system and a resonance ratio control system considering the required interaction with the environment. To design the resonance ratio control system considering the contact with the environment, this paper analyzes the stability of the proposed resonance ratio control and the bandwidth of a disturbance observer. This paper designs the resonance ratio control system using an instantaneous state observer considering the results of the stability analysis. In addition, a stable force control system is designed based on the resonance ratio control system using an instantaneous state observer. In this paper, the effectiveness of the proposed force control system is confirmed by performing numerical simulations and experiments using an industrial robot arm.