IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Special Issue Paper
A Stability Analysis of Force Control Based on Momentum
Sho SakainoTomoya SatoKouhei Ohnishi
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2009 Volume 129 Issue 6 Pages 614-621

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Abstract
A stability analysis of force control based on momentum is presented in this paper. The inertial force which makes the robot unstable such as centrifugal and Coriolis force is strictly modeled with this controller. Hence, the stability is improved. This fact is shown by an analytical approach with the transfer function. In order to increase response tracking capability, how to compose force feedforward and disturbance observer with the controller is also considered. The validity of the ways is confirmed by several simulations and experiments.
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© 2009 by the Institute of Electrical Engineers of Japan
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