The paper presents a new position/force controller, based on the philosophy of the parallel approach. The controller exploits the reaction compensation action of the inverse dynamics position controller and achieves superior transient performance. It incorporates a velocity dependent damping term. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations.
['Herbert G. Tanner', 'Kostas J. Kyriakopoulos']
Position and force control by reaction compensation