In this paper the robustness properties of explicit force control with respect to contact stiffness are investigated, considering different control laws applied to an industrial robot affected by joint compliance. A theoretical analysis, performed on the well-known linear fourth-order model of a single joint robot interacting with the environment, shows that, differently from the case of P or PD control, integral control ensures increasing stability with increasing contact stiffness. This result is believed new. In particular, it is shown that through the adoption of an integral control law, force control is actually feasible even in the case of an infinitely stiff environment, which is a quite common situation in real industrial applications (metal working, deburring, etc.). It is also shown that the adoption of a feedback on motor velocity can greatly widen the range of the stabilizing integral gains as well as the achievable bandwidth. Experimental results, obtained with the industrial robot SMART 3S, are provided in order to substantiate the theoretical analysis.
Skip Nav Destination
Article navigation
December 1995
Technical Papers
On the Stability of Integral Force Control in Case of Contact With Stiff Surfaces
G. Ferretti,
G. Ferretti
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
Search for other works by this author on:
G. Magnani,
G. Magnani
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
Search for other works by this author on:
P. Rocco
P. Rocco
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
Search for other works by this author on:
G. Ferretti
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
G. Magnani
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
P. Rocco
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
J. Dyn. Sys., Meas., Control. Dec 1995, 117(4): 547-553 (7 pages)
Published Online: December 1, 1995
Article history
Received:
May 16, 1994
Revised:
September 14, 1994
Online:
December 3, 2007
Citation
Ferretti, G., Magnani, G., and Rocco, P. (December 1, 1995). "On the Stability of Integral Force Control in Case of Contact With Stiff Surfaces." ASME. J. Dyn. Sys., Meas., Control. December 1995; 117(4): 547–553. https://doi.org/10.1115/1.2801113
Download citation file:
Get Email Alerts
Data-Driven Tracking Control of a Cushion Robot With Safe Autonomous Motion Considering Human-Machine Interaction Environment
J. Dyn. Sys., Meas., Control (July 2025)
Dynamic Obstacle Avoidance Strategy for High-Speed Vehicles Via Constrained Model Predictive Control and Improved Artificial Potential Field
J. Dyn. Sys., Meas., Control (July 2025)
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Related Articles
Modeling and Control of a New Robotic Deburring System
J. Manuf. Sci. Eng (October,2007)
Torque-Dependent Compliance Control in the Joint Space for Robot-Mediated Motor Therapy
J. Dyn. Sys., Meas., Control (March,2006)
Force Control Loop Affected by Bounded Uncertainties and Unbounded Inputs for Pneumatic Actuator Systems
J. Dyn. Sys., Meas., Control (January,2008)
A Force-Control Model for Edge-Deburring with Filamentary Brush
J. Manuf. Sci. Eng (August,2001)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Accuracy of an Axis
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Control of Chaotic Motions in Thruster Motor System for Ocean Robot
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3