Generalized acceleration control of robot manipulators with nonlinear active damping

A hybrid position/force control algorithm for generic robot manipulators (RM), namely generalized acceleration control with nonlinear active damping, is introduced. This algorithm gives fast and stable response without demanding high sampling rate, even if the contact stiffness between the robot end-effector and the environment is very high. It also allows relatively fast impact of the end-effector with the environment without yielding extra force overshoot. The algorithm maintains stable and accurate force control even if large positional disturbances occur in force-controlled directions