Indirect force control development procedure

Addition of extra sensors, especially video cameras and force sensors, under control of appropriate software makes robotic manipulators working in factories suitable for a range of new applications. This paper presents a method of manipulator indirect force control development, in which the force set values are specified in the operational space and the manipulator is equipped with a force sensor in its wrist. Standard control development methods need the estimation of parameters of the detailed model of a manipulator and position servos, which is a complicated and time-consuming task. Hence, in this work a time-efficient hybrid procedure of controller development is proposed consisting of both analytical and experimental stages: proposal of an approximate continuous model of a manipulator, experimental determination and verification of its parameter values using the resonance phenomenon, continuous regulator development, and digitization of the regulator.