Iterative learning in variable structure position/force hybrid control of manipulators

Abstract

This paper presents a novel approach to the hybrid position/force control of robot manipulators employed in executing repetitive tasks that involve contact with the environment. The constraint surface is assumed to be a plane and its respective dynamics is modelled by a mass-dashpot-spring scheme. Time results obtained by simulations are very encouraging for future research and developments, because the system's behaviour is very efficient.