Abstract
In haptic technology, robot has to contact with objects and human operator. The robot systems must be flexible systems, high accuracy and precision during the operation for safe the human operator. So, analysis of the force response is a necessary ability to design the controller of the robot systems. This paper proposes a methodology to analyze force response by mean of spectrogram analysis. The master-slave robot based on bilateral control is used by human operator. Disturbance Observe (DOB) is used to estimate the force response instead of force sensor to improve the performance of the whole system. Finally, force response is analyzed by spectrogram. The availability of the proposed method is shown in an experiment.
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