Hybrid position/force control

Abstract

This project report presents a hybrid control scheme controlling the joint position and Cartesian contact force of a robot manipulator with inner computed-torque
\nfeedforward loop. The control scheme consists of two controllers: the proportional plus derivative position controller and the proportional plus velocity force controller. The controllers are designed based on the model reference control and orthogonal force/position constraints under the assumption of constant desired forces and slowly time-varying motion. Simulations studies performed on a 6 degree of freedom PUMA 560 robot model are presented.