Dynamic hybrid position/Force control of robot manipulators--Controller design and experiment

Abstract

An approach to designing controllers for dynamic hybrid position/force control of robot maniulators is presented and preliminary experimental results are given. Dynamic hybrid control is an extension of the hybrid control approach proposed by Raibert and Craig to the case where the full manipulator dynamics is taken into consideration. This design method consists of two steps. The first step is the linearization of the manipulator dynamics by nonlinear state feedback. The second step is the design of position and force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbances. Preliminary experiments using a SCARA robot show the validity of the approach.