This paper addresses the explicit force regulation problem for robot manipulators in interaction tasks. A new family of explicit\nforce-control schemes is presented, which includes a term driven by a large class of saturated-type hyperbolic functions to handle\nthe force error. Also, an active velocity damping term with the purpose of obtaining energy dissipation on the contact surface is\nincorporated plus compensation for gravity. In order to ensure asymptotic stability of the closed-loop system equilibrium point in\nCartesian space, we propose a strict Lyapunov function. A force sensor placed at the end-effector of the robotmanipulator is used in\norder to feed back themeasure of the force error in the closed-loop, and an experimental comparison of the performanceL2-norm\nbetween 5 explicit force control schemes, which are the classical proportional-derivative (PD), arctangent, and square-root controls\nand twomembers of the proposed control family, on a two-degree-of-freedom, direct-drive robot manipulator, is presented.
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