Collision and force control for robot manipulator without force sensor

This paper proposes a new collision and force control for robot manipulator. The proposed system has no force sensor, and it is constructed by using H/sup /spl infin// velocity controller and the reaction torque observer. The collision force is suppressed by H/sup /spl infin// velocity controller quickly. The reaction force from the target environment is estimated by the reaction torque observer rapidly. Experimental result shows that the proposed system suppresses the collision force quickly and regulates the target force stably and accurately without force sensor.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>