Abstract
The empirically developed force control in cases of the robotic polishing and the rehabilitation robots serve as a motivation for the study of the peculiar dynamic behaviour of digital force control. The effect of the sampling times of the digital controllers are studied analytically, and the corresponding stability charts are presented for different gain and mechanical parameters describing also the different sampling frequencies at the force sensors and in the digital control loop. The types of bifurcations are also identified at the stability limits. As one of the practical conclusions, the negative role of differential gain is explained in digital force control.Key wordsforce controlled robotsdifferential gaindelayed oscillator
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