Direct design method of force controller based on input/output data

This paper proposes a data-driven design method of a force controller using input/output data of a force control system, i.e., force response obtained when contacting to an unknown environment and input to a robot at that time. The force control system includes the environment to be contacted in addition to the robot itself. The force controller must be designed in consideration of the environment. Therefore, this paper focuses on the Virtual Reference Feedback Tuning (VRFT), which is one of the data-driven controller design methods. The effectiveness of the design method is verified by simulation examples and verification experiments.