Hybrid Force and Position Control of the KUKA IIWA Robotic Manipulator

摘要

The paper describes the current methodology used for trajectory tracking. Due to the environment and handling textural uncertainties current designs have limitations to adjust error in the control system. This change has been a prerequisite to identify a new design of position controller for better trajectory planning and tracking. A new control system design associated with a robot that controls and is able to react quickly to such changes. This necessitates the management of abrupt signal fluctuations in sensor data. The controller can react quickly to unexpected changes in the environment while maintaining excellent position and force tracking performance. A KUKA IIWA manipulator's hybrid force and position controller can be utilised to control the force using an adaptive control method for an unknown uneven surface. This control system has been verified using dynamic simulation for the KUKA IIWA robot in Simulink Simscape library. Using the MATLAB Simulink, the controlling algorithm has been developed to control the robot that has a feedback system to contact the force subsystem with the feedback reaction torque system.