This paper deals with modeling and implementation of a robot system for for
ce/impact control using a newly developed passive hardware damper. Modeling
procedures of the whole system are addressed including the passive damper
and stability of the system with respect to force feedback gain is analyzed
. The limitations of conventional velocity feedback to produce damping char
acteristics are discussed. Experiments are performed with/without the passi
ve damper to verify the effectiveness of the passive damping method and it
is shown that the passive damper can help the system make stable contact du
ring the contact period.