Robot force control is rising in importance about industrial robot and extreme work robot. Especially, the industry of robot requires still preciser control with development of sensor. And it is force control that is one which meets this requirement. Therefore in this thesis, we propose force control using Time Delay Control that showed precise and robust control performance in position control. TDC has very simple structure and adjusts effectively to the systems which operate under significant plant uncertainty and disturbance.
In this thesis, we consider general TDC algorithm first, and method that apply it to the force control. In order to examine the effect of unmodeled dynamics, stability analysis is carried out with root-locus method. Finally, simulation is executed by 2-link manipulator using TDC algorithm and experiment will be implemented on the basis of these analysis.
