An approach for force control of redundant robots under unknown environment

A dynamic force controller based on momentum is implemented to the redundant system in this paper. With this method, the centrifugal and Coriolis terms are eliminated from the system and precise and stable force control is realized. Firstly, force control based on momentum is described. This controller does not have any singular points and is able to be applied to dynamic state. A null space controller for the dynamic controller is proposed and is constructed in the angular momentum dimension. Then, position and force vector is united into work space using equivalent mass matrix. Several simulation results are shown to confirm the validity of the proposed method.