By Topic

Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Qian, H.P. ; Div. of Production Eng., Katholieke Univ. Leuven, Heverlee, Belgium ; De Schutter, J.

Most force control algorithms become unstable in case of stiff contact between the end-effector and the environment. To cope with this problem, the authors introduce active damping based on force sensor data. Linear active damping is introduced using the force derivative which is obtained either by means of filtered differentiation or by means of a state-space estimator, and both enable stable stiff contact. Nonlinear active damping through a feedforward method is introduced. The novel algorithm is simple and does not require knowledge of the contact stiffness. It enables satisfactory force response which is fast and without overshoot in the case of a high feedback gain with stiff contact. This algorithm has better potential for rejecting positional disturbances than many current algorithms

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992