A stability analysis of force control based on momentum

Sho Sakaino, Tomoya Sato, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


A stability analysis of force control based on momentum is presented in this paper. The inertial force which makes the robot unstable such as centrifugal and Coriolis force is strictly modeled with this controller. Hence, the stability is improved. This fact is shown by an analytical approach with the transfer function. In order to increase response tracking capability, how to compose force feedforward and disturbance observer with the controller is also considered. The validity of the ways is confirmed by several simulations and experiments.

Original languageEnglish
Pages (from-to)11+614-621
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2009
Externally publishedYes


  • Acceleration control
  • Contact motion
  • Force control
  • Manipulator
  • Momentum

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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