Robust force/position control of a robot manipulator using time-delay control

Abstract Robot hybrid control has been noted for its difficulty due to the so-called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy. In this paper, a control law based on time-delay control has been derived for hybrid control, with a condition for closed-loop stability. In addition, its relationship with the disturbance observer has been investigated. It turned out that the disturbance observer is very similar to the proposed control. Throughout the simulations and experiments, this control law was observed to outperform PD or PID control, thereby proposing itself as promising for hybrid control purposes.

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