Dynamic response in force control is related to robot configurations and environment, so the feedback gains must be designed from robot-environment systems models in order to obtain the target dynamic response for all robot configurations. This paper has two parts, part-1 presents a pole placement technique for nonredundant robot, and part-2 discusses this for redundant robot.
In part-1, To obtain the desired dynamic response, the feedback gains are formulated form of robot-environment systems models which are functions of robot configurations, and this pole placement technique is tested by simulation with simple robot system. Simulation exhibits good results of fitted pole placement, but command following error is produced by disturbance and modelling error.
In part-2, Improving the problem of command following error, redundancy is used. A control law which controls null space motion for redundant robot is proposed, and this technique is tested by simulation with simple 3-d.o.f redundant robot systems. Desired null space motion and pole placement are adequated with this cotrol law, and the problem of command following error is improved to nonredundant case.