A hybrid position/force control for robot manipulator with position controllers

위치 제어기를 갖는 로보트 매니퓰레이터의 Hybrid 위치/힘 제어

In this paper, a hybrid position/force control scheme is proposed. The control scheme modifies the position command for force control against constraint surface of environment and is very simply designed and implemented. The merits of the control scheme are that it can cope with change of constraint conditions and small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances on controlled force.