Switching Controller-less Approach and Contact Controls Based on Force Impulse Regulator

This paper proposes an approach and contact controls based on the force impulse regulator. The force impulse regulator is constructed using two-spring resonant system using the motor-side velocity control and the force and position sensors integrated disturbance disturbance observer (FPIDO). Control gains are determined using pole placement method and the force impulse command is determined according to desired approach speed. The proposed approach is verified through the numerical simulation and experimental results.