Hybrid Position/Force Control with Virtual Impedance Model of Robot Manipulators

摘要

Abstract Industrial robots require force control in applications such as grinding, and impedance control is a representative method of force control. However, the current impedance control has no clear solution to the hybrid control of position and force for robot manipulators. Therefore, this paper distinguished the position control and force control of the top of robot according to the axis, converted the desired force to position compensation based on the kinematics and dynamics of the robot, and proposed a hybrid position/force control with virtual impedance model of robot manipulators. Moreover, this paper established a grinding simulation model of a three-joint robot manipulator on Matlab/Simulink, and verified the effectiveness of the control method proposed in this paper by a numerical analysis of grinding simulation.