An analysis of force control based on momentum

A stability analysis of force control based on momentum is presented in this paper. The inertia! force which makes the robot unstable such as centrifugal and Coriolis force is strictly modeled with this controller. Hence, the stability is improved. This fact is shown by an analytical approach with the transfer function. In order to increase response tracking capability, how to compose force feedforward and disturbance observer with the controller are also considered. The validity of the ways is confirmed by several simulations.