Gain scheduling and integral action in manipulator collision control

In this paper, jump impact controller and observer derived previously for the manipulator collision control problem under the conditions that there are force sensor delay and uncertainties in the environment dynamics and location is modified with better intuitive appeal and understanding. It turns out that the solution is a combination of integral action and gain scheduling which provide a valuable design freedom or tool to achieve the desired robustness and performance in accordance with the uncertainties involved. An example that demonstrate this design process with simulation results are presented