DSP-based robust force and compliance control of DD motor

The authors propose the robust force and control of a DD motor based on a novel model following acceleration control. The model following acceleration control system has the ability to suppress the state error caused by not only force disturbance but also system structure variations. The DD motor controlled by the proposed acceleration control system is treated as a structure of two integral elements, which has no mechanical system parameter. Therefore, each joint of a DD robot manipulator is regulated by an acceleration command. The proposed acceleration control system is designed using H/sup infinity / control theory, and it is realized by a DSP (digital signal processor) software algorithm. Experimental results show that the proposed method is valid for the robust force and compliance control system of a DD robot manipulator.<>