A Composition of Dynamic Force Control System Based on Momentum

Abstract

There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. Motion of a robot becomes unstable at this point. On the other hand, with transpose Jacobian matrix, it is used only in static state.
In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than that of the conventional methods.