On hard contact force control

N. Doh, W. K. Chung, Y. Youm

Research output: Contribution to conferencePaperpeer-review

7 Citations (Scopus)


In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff. In hard contact, phase transition can be divided into two definitely different phases, "pre-transition phase" and "transition phase". Here we define the "pre-transition phase" and propose a novel controller named as "suppression controller" which is not only stable but also simple to implement. Based on this result, we suggest a hard contact force control scheme which is named as "hybrid suppression controller". The effectiveness of these approaches are verified via experiments using "POSTECH 1 DOF DD ARM".

Original languageEnglish
Number of pages6
Publication statusPublished - 2000
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5


Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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