Research on simulation of redundant robot force control

Abstract

Kinematicclly redundant robots have some advantages when compared with classic ones because they have the redundant degrees of freedom to optimize the performance of the robot system. Base on gradient projection method, the problems of redundant robot force control are studied in this paper. A co-simulation platform using ADAMS and Matlab is built for verify the force control law. The simulation results demonstrate the feasibility of simulation prior to real applications.