Active force-torque robot control without using wrist force-torque sensors

A method of active force-torque control of manipulator robots is considered; in this method it is proposed to use signals proportional to elastic deformations of flexible elements of the manipulators as feedback signals, rather than conventional forces and moments of reactions arising under the contact of the gripper and the moved object. It is proposed to construct control laws which are the functions of these feedback constraints in such a way that they generate artificial potential control forces. Due to it, unlike conventional approaches, simple and natural stability conditions are provided, as well as the weak dependence of dynamic properties of the control system on the variation of its parameters, i.e., the parametric robustness of the system.