A STRATEGY TO REJECT THE IMPACT OF MANIPULATOR IN THE FORCE CONTROL SCHEME

The control strategy, which rejects the impact of manipulator in the force control scheme,is discussed in this paper. The paper presents a mathematic model for the manipulator when impact occurs,and on the basis of the model, this paper analyzes the results obtained from two strategies. The experimental results accord with the theoretic analysis and indicates that the integral algorithm can reject impact satisfactorily.