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This paper presents a novel force control method to suppress torsional vibration of two-mass resonant system based on the resonance ratio control. The reaction torque is estimated by using position sensitive detector (PSD). Since the method does not need the parameter identification, the torsion information is obtained with accuracy. The total force controller is shown in Figure 1. Here, the disturbance torque τdism is compensated by the disturbance observer, and the arm disturbance is rejected by the arm disturbance observer. Ke denotes the stiffness of the environment. The transfer function from the force command Fcmd to the force response Fres is represented as follows,

Force Control by Flexible Manipulator Based on Resonance Ratio Control using Position Sensitive Detector