Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporates the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, and pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented. >
['Tzyh Jong Tarn', 'Antal K. Bejczy', 'Xiaoping Yun']
I am writing a research paper on a idea Robot arm force control through system linearization by nonlinear feedback
[{"from": "human", "value": "I am writing a research paper on a idea Robot arm force control through system linearization by nonlinear feedback"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporates the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, and pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented. >"}]