A Study on Design Method of the Switching System for Force Control

Abstract

This paper proposes the design method of a switching force controller by using a data-driven controller design method which derives a controller only using an input/output data set of a plant. The force control system consists of the contact environment as well as the robot itself. In addition, the contact environment might vary according to change of the contact point. The force controller must be designed so as to adapt in consideration of various environments. Therefore, this paper focuses on the switching force controller to solve the above problem, and adopts the data-driven controller design method and some machine learning techniques to design the switching controller. The effectiveness of the proposed design method is verified by simulation examples.