HIGH-BANDWIDTH FORCE AND IMPEDANCE CONTROL FOR INDUSTRIAL ROBOTS

Common geared industrial robots call for force control methods with sp ecial properties such as good rejection of frictional disturbances, sm oothness of corrective motions, and more. A new method is presented wh ich meets these requirements and provides a high control bandwidth. In the manner of hybrid control, directions of a task frame can be selec ted to be force, impedance or position controlled. A joint-based inner position loop superimposed predictive force controller are Practical results include data from a robotic grinding facility. Here, the contr oller proved robustness and good performance under rough conditions.