FORCE REFLECTION WITH COMPLIANCE CONTROL

Two classes of systems for force-reflecting control that enable high force-reflection gain are presented: position-error-based force reflection and low-pass-filtered force reflection, both combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.