On the use of velocity feedback for robot impact control

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Abstract

Most of the existing impact control strategies have relied on integral action and robot joint velocity feedback to achieve the desired damping effect. The limitations of such approaches are discussed in this paper. Based on a robot tip velocity reconstruction scheme, a positive tip velocity feedback method was introduced. This helped overcome the non-colocation problem due to the higher order arm dynamics and enhanced the impact suppression. A control strategy which includes the velocity feedback and an integral control was then developed and implemented on an industrial robot.

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