Position/force switching control based on velocity damping

Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity damping, is proposed for motion switching of automated equipment. At first, the control models were established by analyzing displacement control and pressure control. To solve the shortage of direct switching between displacement and pressure, switching control based on the velocity damping is presented. The effectiveness of this method is verified by using piezoelectric sensor in experiment. Compared to direct switching control, the proposed switching control becomes more accurate and faster. The measurement data shows that the maximal impact force of control system is 0.4N and the amplitude of forces of fluctuations are within the range of ±0.03N.