Abstract
The paper describes a workspace force controller of the multi-degrees-of-freedom manipulator. First, the disturbance observer is applied to each joint to improve the robustness against the disturbance effect and the joint acceleration controller is realized in the joint space. Secondly, the workspace motion equation is derived and the workspace force controller is constructed based on its motion equation.In the proposed force controller, the equivalent mass matrix of the workspace is defined clearly and the impedance of the manipulator is selected arbitrary. This is a remarkable point of the proposed method. Several experimental results are shown to verify the proposed controller.
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