Robust Force Control of a Robot Manipulator

In this paper, we develop a position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. A robust force control scheme based on the impedance approach is derived to follow a desired trajectory while regulating the force at the end effector. A uniform boundness result is obtained for the tracking error with only the measurement of the force at the end effector and of the joint velocity and position. This bound can be made arbitrarily small by adjusting the appropriate control parameters.