Robust force control by estimation of environment

A novel force control strategy which is robust against disturbance and parameter variation is proposed. This method is an expansion of a disturbance observer which estimates the disturbance and parameter variation of motors using simple computation. The observer also estimates the disturbance and parameters variation of the environment on which the force is imposed. Since they are compensated by the observer, a similar force response to the force command is realized. The effectiveness of the proposed method is confirmed by some experimental results