Force and contact transient control for robot manipulators with robustness enhancement

This paper develops a force and contact transient control scheme for robot manipulators with robustness improvement which performing tasks in stiff environment. The proposed controller, which adopting parallel force/position control structure and a new complex force regulator, is suitable for robots to work in unstructured stiff environment. Asymptotic stability of the system in the neighborhood of the equilibrium state is proven. Experimental results of a robot are presented to demonstrate the good properties of the improvement