Force feedback control of robot manipulator by the acceleration tracing orientation method

The authors propose a novel approach to force and compliance control of multi-degree-of-freedom (DOF) robot manipulators. The acceleration tracing orientation method (ATOM) is applied to both controllers. The control law is described in the Cartesian space; however, the final command is the acceleration in the joint space. The interactive terms in each joint disturb and deteriorate the joint motion. The disturbance observer cancels out the total sum of these terms and enables each joint to trace the acceleration command. As a result, a robust control is possible in the force task. The testing of the proposed system in a three-DOF robot manipulator is discussed