Force control without force sensor based on mixed sensitivity H ∞ design method

The authors propose the force control of a robot manipulator without a force sensor. The proposed force control system is realized by both the acceleration controller and the force observer. Both systems are designed by the mixed-sensitivity H^∞ design method. The acceleration controller regulates the actuator of the robot manipulator by the acceleration control command. The force observer estimates the reaction force from the target environment. The experimental results showed that the response of the proposed force control system without a force sensor coincided with that of the force control system with a force sensor