Analysis and experimental validation of force bandwidth for force control

@article{Katsura2006AnalysisAE,
  title={Analysis and experimental validation of force bandwidth for force control},
  author={Seiichiro Katsura and Yuichi Matsumoto and Kouhei Ohnishi},
  journal={IEEE Transactions on Industrial Electronics},
  year={2006},
  volume={53},
  pages={922-928}
}
Controlling robots in contact with the environment is an important problem in industry applications. In the conventional force control, much research has paid attention to develop novel force control systems and implemented force sensors to detect external force. This paper shows that narrow bandwidth of force sensor has a big influence on the force control system. Generally, to solve the instability in force control, the velocity feedback gain is enlarged. The system becomes unstable with… CONTINUE READING

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