Control of a Robot Axis with Effort Feedback

This paper tackles the control design of a robot to handle said interaction. A new model is written of an EMPS Prototype to emulate a robot-environment scenario, including now two masses and with their interaction translated as a spring and damper system, followed by the implementation of a cascaded loop of force-velocity control of the robot axis. A new formulation of the force control is also designed and implemented considering the impedance control theory. Finally, this model and its cascaded loop control is validated against real values through the experiment proving its accuracy.