Discussion on Several Problems Using Acceleration Feedback in Robot Controller
机器人控制器中应用加速度反馈的几个问题讨论

The application of integration acceleration feedback which combines acceleration positive feedback and integral negative feedback has obvious effect on enhancing damp in manipulators position control, but the effect is limited by some factors in force control. This paper analyses the factors that limit the effect of acceleration feedback by simulation using the PUMA560's force control identifica tion model. And we draw the conclusion that the dynamic of motors, the flexibility of links and the delay in sampling control are the main issues that limit the effect of acceleration feedback in robot force control. In the end the experiment results on PUMA 560 manipulator verify the conclusion and point out the hope in using acceleration feedback.