Contact stability analysis using dynamic control model

The purpose of this study is to analyze the contact stability. The controller with observer based system is transformed into its dynamic physical model. Two approaches are discussed in this paper. The first one considered ideal disturbance observer and ideal reaction force observer. The second one dealt with the real world disturbance observer and real world reaction force observer. The gap between the ideal and real world is analyzed. The validity of the proposed approaches of the contact stability is confirmed in the experiments.