Theoretical analysis and experimental verification of a manipulator/sensor/environment model for force control

Models of increasing complexity are briefly discussed, and a fourth-order dynamic model composed of the manipulator, force sensor, and environment is analyzed. Study of the undamped and underdamped cases yields insight into the mode of oscillation of the system and provides the ability to extract system parameter values from the measured force values. The effect of hysteresis is considered. Experimental data for the arm and environment system under small oscillations are reported. Simulation results based on the extracted parameters closely match the experimental data, further confirming the validity of the model