Experimental haptic device with force control

The force control is important part of robot control systems. There are two main methods of force control: impedance and admittance control. This paper presents an experimental set-up for impedance method verification. The impedance control is based on the assumption that the operator motion input is measured, and subsequently, the reaction force is fed back to the operator. Several experiments were performed to verify the suitability of impedance method in practice and its applicability in a haptic device.