Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact

@article{Qian1992IntroducingAL,
  title={Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact},
  author={H. P. Qian and Joris De Schutter},
  journal={Proceedings 1992 IEEE International Conference on Robotics and Automation},
  year={1992},
  pages={1374-1379 vol.2}
}
Most force control algorithms become unstable in case of stiff contact between the end-effector and the environment. To cope with this problem, the authors introduce active damping based on force sensor data. Linear active damping is introduced using the force derivative which is obtained either by means of filtered differentiation or by means of a state-space estimator, and both enable stable stiff contact. Nonlinear active damping through a feedforward method is introduced. The novel… CONTINUE READING

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