Variable contact force control based on reaction force control with adjustment ratio

This paper proposes a variable interactive force control method between a motion control system and the real environment. The proposed method is based on the observer techniques both of a disturbance observer and a reaction force observer. Then, a reaction force control without force sensors is realized. The flexible design of the contact force with the environment can be achieved by the implemented adjustment ratio to the reaction force control system. Some real experimental results are shown to verify the validity of the proposed method.