A quantification of peak force in a switching controlled impact operation

Contact transition must be thoroughly understood and controlled such that industrial robots can effectively perform an impact force operation. There are three different stages in controlling robots while interacting with the environment, i.e. pre-collision, impact and post-collision stages. In this paper, we present an analytical derivation of an impact control, together with its experimental results using a switching method. We quantify peak forces during impact based on the parameters during the pre-collision stage. Such a quantification is verified by experiments on our 1-DOF manipulator.