Design of a Force Controller Based on Frequency Characteristics

Hiroshi Wada, Kazuhiro Kosuge, Toshio Fukuda, Keigo Watanabe

Research output: Contribution to journalArticlepeer-review


This paper proposes a method to design a force controller based on frequency characteristics. Generally, force control algorithms are classified into two types, the explicit force control algorithms such as Hybrid position/force control and the implicit force control algorithms such as impedance control. The explicit force control algorithms control the contact force directly, implicit force control algorithms control the manipulator motion-force relation. Recently, the equivalence of these two types of algorithms has been shown by A. A. Goldenberg (1992), and R. Volpe and P. Khosla (1993). In this paper, we propose a method to design an explicit force controller based on the equivalence to the impedance controller, so that the resultant control system has the desired frequency characteristics. The method is applied to a manipulator with one degree of freedom and experimental results illustrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)577-582
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Issue number570
Publication statusPublished - 1994
Externally publishedYes


  • Frequency Characteristics
  • Hybrid Position/Force Control
  • Impedance Control
  • Manipulator
  • Robotics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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