Sensorless force control using H∞ acceleration controller

This paper proposes manipulator force control without a force sensor. The proposed force control system is designed with an H/spl infin/ acceleration controller and a reaction force estimation system. The H/spl infin/ acceleration controller realizes a fine and robust motion control. The reaction force estimation system consists of a torque observer and inverse dynamics calculation, and its estimated value is fed to the force control system.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>